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364 lines
12 KiB
364 lines
12 KiB
// MESSAGE HIL_CONTROLS PACKING |
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#define MAVLINK_MSG_ID_HIL_CONTROLS 91 |
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typedef struct __mavlink_hil_controls_t |
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{ |
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uint64_t time_usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot) |
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float roll_ailerons; ///< Control output -1 .. 1 |
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float pitch_elevator; ///< Control output -1 .. 1 |
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float yaw_rudder; ///< Control output -1 .. 1 |
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float throttle; ///< Throttle 0 .. 1 |
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float aux1; ///< Aux 1, -1 .. 1 |
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float aux2; ///< Aux 2, -1 .. 1 |
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float aux3; ///< Aux 3, -1 .. 1 |
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float aux4; ///< Aux 4, -1 .. 1 |
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uint8_t mode; ///< System mode (MAV_MODE) |
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uint8_t nav_mode; ///< Navigation mode (MAV_NAV_MODE) |
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} mavlink_hil_controls_t; |
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#define MAVLINK_MSG_ID_HIL_CONTROLS_LEN 42 |
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#define MAVLINK_MSG_ID_91_LEN 42 |
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#define MAVLINK_MESSAGE_INFO_HIL_CONTROLS { \ |
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"HIL_CONTROLS", \ |
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11, \ |
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{ { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_controls_t, time_usec) }, \ |
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{ "roll_ailerons", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_hil_controls_t, roll_ailerons) }, \ |
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{ "pitch_elevator", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_hil_controls_t, pitch_elevator) }, \ |
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{ "yaw_rudder", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_hil_controls_t, yaw_rudder) }, \ |
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{ "throttle", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_hil_controls_t, throttle) }, \ |
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{ "aux1", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_hil_controls_t, aux1) }, \ |
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{ "aux2", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_hil_controls_t, aux2) }, \ |
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{ "aux3", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_hil_controls_t, aux3) }, \ |
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{ "aux4", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_hil_controls_t, aux4) }, \ |
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{ "mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 40, offsetof(mavlink_hil_controls_t, mode) }, \ |
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{ "nav_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 41, offsetof(mavlink_hil_controls_t, nav_mode) }, \ |
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} \ |
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} |
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/** |
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* @brief Pack a hil_controls 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 time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) |
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* @param roll_ailerons Control output -1 .. 1 |
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* @param pitch_elevator Control output -1 .. 1 |
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* @param yaw_rudder Control output -1 .. 1 |
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* @param throttle Throttle 0 .. 1 |
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* @param aux1 Aux 1, -1 .. 1 |
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* @param aux2 Aux 2, -1 .. 1 |
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* @param aux3 Aux 3, -1 .. 1 |
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* @param aux4 Aux 4, -1 .. 1 |
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* @param mode System mode (MAV_MODE) |
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* @param nav_mode Navigation mode (MAV_NAV_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_hil_controls_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, |
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uint64_t time_usec, float roll_ailerons, float pitch_elevator, float yaw_rudder, float throttle, float aux1, float aux2, float aux3, float aux4, uint8_t mode, uint8_t nav_mode) |
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{ |
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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char buf[42]; |
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_mav_put_uint64_t(buf, 0, time_usec); |
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_mav_put_float(buf, 8, roll_ailerons); |
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_mav_put_float(buf, 12, pitch_elevator); |
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_mav_put_float(buf, 16, yaw_rudder); |
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_mav_put_float(buf, 20, throttle); |
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_mav_put_float(buf, 24, aux1); |
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_mav_put_float(buf, 28, aux2); |
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_mav_put_float(buf, 32, aux3); |
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_mav_put_float(buf, 36, aux4); |
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_mav_put_uint8_t(buf, 40, mode); |
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_mav_put_uint8_t(buf, 41, nav_mode); |
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memcpy(_MAV_PAYLOAD(msg), buf, 42); |
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#else |
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mavlink_hil_controls_t packet; |
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packet.time_usec = time_usec; |
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packet.roll_ailerons = roll_ailerons; |
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packet.pitch_elevator = pitch_elevator; |
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packet.yaw_rudder = yaw_rudder; |
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packet.throttle = throttle; |
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packet.aux1 = aux1; |
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packet.aux2 = aux2; |
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packet.aux3 = aux3; |
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packet.aux4 = aux4; |
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packet.mode = mode; |
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packet.nav_mode = nav_mode; |
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memcpy(_MAV_PAYLOAD(msg), &packet, 42); |
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#endif |
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msg->msgid = MAVLINK_MSG_ID_HIL_CONTROLS; |
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return mavlink_finalize_message(msg, system_id, component_id, 42, 63); |
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} |
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/** |
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* @brief Pack a hil_controls message on a channel |
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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 time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) |
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* @param roll_ailerons Control output -1 .. 1 |
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* @param pitch_elevator Control output -1 .. 1 |
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* @param yaw_rudder Control output -1 .. 1 |
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* @param throttle Throttle 0 .. 1 |
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* @param aux1 Aux 1, -1 .. 1 |
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* @param aux2 Aux 2, -1 .. 1 |
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* @param aux3 Aux 3, -1 .. 1 |
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* @param aux4 Aux 4, -1 .. 1 |
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* @param mode System mode (MAV_MODE) |
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* @param nav_mode Navigation mode (MAV_NAV_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_hil_controls_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, |
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mavlink_message_t* msg, |
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uint64_t time_usec,float roll_ailerons,float pitch_elevator,float yaw_rudder,float throttle,float aux1,float aux2,float aux3,float aux4,uint8_t mode,uint8_t nav_mode) |
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{ |
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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char buf[42]; |
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_mav_put_uint64_t(buf, 0, time_usec); |
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_mav_put_float(buf, 8, roll_ailerons); |
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_mav_put_float(buf, 12, pitch_elevator); |
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_mav_put_float(buf, 16, yaw_rudder); |
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_mav_put_float(buf, 20, throttle); |
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_mav_put_float(buf, 24, aux1); |
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_mav_put_float(buf, 28, aux2); |
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_mav_put_float(buf, 32, aux3); |
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_mav_put_float(buf, 36, aux4); |
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_mav_put_uint8_t(buf, 40, mode); |
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_mav_put_uint8_t(buf, 41, nav_mode); |
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memcpy(_MAV_PAYLOAD(msg), buf, 42); |
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#else |
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mavlink_hil_controls_t packet; |
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packet.time_usec = time_usec; |
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packet.roll_ailerons = roll_ailerons; |
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packet.pitch_elevator = pitch_elevator; |
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packet.yaw_rudder = yaw_rudder; |
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packet.throttle = throttle; |
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packet.aux1 = aux1; |
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packet.aux2 = aux2; |
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packet.aux3 = aux3; |
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packet.aux4 = aux4; |
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packet.mode = mode; |
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packet.nav_mode = nav_mode; |
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memcpy(_MAV_PAYLOAD(msg), &packet, 42); |
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#endif |
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msg->msgid = MAVLINK_MSG_ID_HIL_CONTROLS; |
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 42, 63); |
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} |
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/** |
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* @brief Encode a hil_controls 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 hil_controls C-struct to read the message contents from |
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*/ |
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static inline uint16_t mavlink_msg_hil_controls_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hil_controls_t* hil_controls) |
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{ |
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return mavlink_msg_hil_controls_pack(system_id, component_id, msg, hil_controls->time_usec, hil_controls->roll_ailerons, hil_controls->pitch_elevator, hil_controls->yaw_rudder, hil_controls->throttle, hil_controls->aux1, hil_controls->aux2, hil_controls->aux3, hil_controls->aux4, hil_controls->mode, hil_controls->nav_mode); |
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} |
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/** |
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* @brief Send a hil_controls message |
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* @param chan MAVLink channel to send the message |
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* |
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* @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) |
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* @param roll_ailerons Control output -1 .. 1 |
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* @param pitch_elevator Control output -1 .. 1 |
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* @param yaw_rudder Control output -1 .. 1 |
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* @param throttle Throttle 0 .. 1 |
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* @param aux1 Aux 1, -1 .. 1 |
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* @param aux2 Aux 2, -1 .. 1 |
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* @param aux3 Aux 3, -1 .. 1 |
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* @param aux4 Aux 4, -1 .. 1 |
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* @param mode System mode (MAV_MODE) |
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* @param nav_mode Navigation mode (MAV_NAV_MODE) |
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*/ |
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
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static inline void mavlink_msg_hil_controls_send(mavlink_channel_t chan, uint64_t time_usec, float roll_ailerons, float pitch_elevator, float yaw_rudder, float throttle, float aux1, float aux2, float aux3, float aux4, uint8_t mode, uint8_t nav_mode) |
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{ |
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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char buf[42]; |
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_mav_put_uint64_t(buf, 0, time_usec); |
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_mav_put_float(buf, 8, roll_ailerons); |
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_mav_put_float(buf, 12, pitch_elevator); |
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_mav_put_float(buf, 16, yaw_rudder); |
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_mav_put_float(buf, 20, throttle); |
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_mav_put_float(buf, 24, aux1); |
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_mav_put_float(buf, 28, aux2); |
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_mav_put_float(buf, 32, aux3); |
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_mav_put_float(buf, 36, aux4); |
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_mav_put_uint8_t(buf, 40, mode); |
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_mav_put_uint8_t(buf, 41, nav_mode); |
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_CONTROLS, buf, 42, 63); |
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#else |
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mavlink_hil_controls_t packet; |
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packet.time_usec = time_usec; |
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packet.roll_ailerons = roll_ailerons; |
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packet.pitch_elevator = pitch_elevator; |
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packet.yaw_rudder = yaw_rudder; |
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packet.throttle = throttle; |
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packet.aux1 = aux1; |
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packet.aux2 = aux2; |
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packet.aux3 = aux3; |
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packet.aux4 = aux4; |
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packet.mode = mode; |
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packet.nav_mode = nav_mode; |
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_CONTROLS, (const char *)&packet, 42, 63); |
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#endif |
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} |
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#endif |
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// MESSAGE HIL_CONTROLS UNPACKING |
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/** |
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* @brief Get field time_usec from hil_controls message |
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* |
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* @return Timestamp (microseconds since UNIX epoch or microseconds since system boot) |
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*/ |
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static inline uint64_t mavlink_msg_hil_controls_get_time_usec(const mavlink_message_t* msg) |
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{ |
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return _MAV_RETURN_uint64_t(msg, 0); |
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} |
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/** |
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* @brief Get field roll_ailerons from hil_controls message |
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* |
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* @return Control output -1 .. 1 |
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*/ |
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static inline float mavlink_msg_hil_controls_get_roll_ailerons(const mavlink_message_t* msg) |
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{ |
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return _MAV_RETURN_float(msg, 8); |
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} |
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/** |
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* @brief Get field pitch_elevator from hil_controls message |
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* |
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* @return Control output -1 .. 1 |
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*/ |
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static inline float mavlink_msg_hil_controls_get_pitch_elevator(const mavlink_message_t* msg) |
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{ |
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return _MAV_RETURN_float(msg, 12); |
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} |
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/** |
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* @brief Get field yaw_rudder from hil_controls message |
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* |
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* @return Control output -1 .. 1 |
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*/ |
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static inline float mavlink_msg_hil_controls_get_yaw_rudder(const mavlink_message_t* msg) |
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{ |
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return _MAV_RETURN_float(msg, 16); |
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} |
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/** |
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* @brief Get field throttle from hil_controls message |
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* |
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* @return Throttle 0 .. 1 |
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*/ |
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static inline float mavlink_msg_hil_controls_get_throttle(const mavlink_message_t* msg) |
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{ |
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return _MAV_RETURN_float(msg, 20); |
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} |
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/** |
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* @brief Get field aux1 from hil_controls message |
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* |
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* @return Aux 1, -1 .. 1 |
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*/ |
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static inline float mavlink_msg_hil_controls_get_aux1(const mavlink_message_t* msg) |
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{ |
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return _MAV_RETURN_float(msg, 24); |
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} |
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/** |
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* @brief Get field aux2 from hil_controls message |
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* |
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* @return Aux 2, -1 .. 1 |
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*/ |
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static inline float mavlink_msg_hil_controls_get_aux2(const mavlink_message_t* msg) |
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{ |
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return _MAV_RETURN_float(msg, 28); |
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} |
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/** |
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* @brief Get field aux3 from hil_controls message |
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* |
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* @return Aux 3, -1 .. 1 |
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*/ |
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static inline float mavlink_msg_hil_controls_get_aux3(const mavlink_message_t* msg) |
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{ |
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return _MAV_RETURN_float(msg, 32); |
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} |
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/** |
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* @brief Get field aux4 from hil_controls message |
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* |
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* @return Aux 4, -1 .. 1 |
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*/ |
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static inline float mavlink_msg_hil_controls_get_aux4(const mavlink_message_t* msg) |
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{ |
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return _MAV_RETURN_float(msg, 36); |
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} |
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/** |
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* @brief Get field mode from hil_controls message |
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* |
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* @return System mode (MAV_MODE) |
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*/ |
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static inline uint8_t mavlink_msg_hil_controls_get_mode(const mavlink_message_t* msg) |
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{ |
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return _MAV_RETURN_uint8_t(msg, 40); |
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} |
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/** |
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* @brief Get field nav_mode from hil_controls message |
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* |
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* @return Navigation mode (MAV_NAV_MODE) |
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*/ |
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static inline uint8_t mavlink_msg_hil_controls_get_nav_mode(const mavlink_message_t* msg) |
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{ |
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return _MAV_RETURN_uint8_t(msg, 41); |
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} |
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/** |
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* @brief Decode a hil_controls message into a struct |
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* |
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* @param msg The message to decode |
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* @param hil_controls C-struct to decode the message contents into |
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*/ |
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static inline void mavlink_msg_hil_controls_decode(const mavlink_message_t* msg, mavlink_hil_controls_t* hil_controls) |
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{ |
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#if MAVLINK_NEED_BYTE_SWAP |
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hil_controls->time_usec = mavlink_msg_hil_controls_get_time_usec(msg); |
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hil_controls->roll_ailerons = mavlink_msg_hil_controls_get_roll_ailerons(msg); |
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hil_controls->pitch_elevator = mavlink_msg_hil_controls_get_pitch_elevator(msg); |
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hil_controls->yaw_rudder = mavlink_msg_hil_controls_get_yaw_rudder(msg); |
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hil_controls->throttle = mavlink_msg_hil_controls_get_throttle(msg); |
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hil_controls->aux1 = mavlink_msg_hil_controls_get_aux1(msg); |
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hil_controls->aux2 = mavlink_msg_hil_controls_get_aux2(msg); |
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hil_controls->aux3 = mavlink_msg_hil_controls_get_aux3(msg); |
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hil_controls->aux4 = mavlink_msg_hil_controls_get_aux4(msg); |
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hil_controls->mode = mavlink_msg_hil_controls_get_mode(msg); |
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hil_controls->nav_mode = mavlink_msg_hil_controls_get_nav_mode(msg); |
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#else |
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memcpy(hil_controls, _MAV_PAYLOAD(msg), 42); |
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#endif |
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}
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