233 lines
10 KiB
C
233 lines
10 KiB
C
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// MESSAGE SET_QUAD_MOTORS_SETPOINT PACKING
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#define MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT 60
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typedef struct __mavlink_set_quad_motors_setpoint_t
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{
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uint16_t motor_front_nw; ///< Front motor in + configuration, front left motor in x configuration
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uint16_t motor_right_ne; ///< Right motor in + configuration, front right motor in x configuration
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uint16_t motor_back_se; ///< Back motor in + configuration, back right motor in x configuration
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uint16_t motor_left_sw; ///< Left motor in + configuration, back left motor in x configuration
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uint8_t target_system; ///< System ID of the system that should set these motor commands
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} mavlink_set_quad_motors_setpoint_t;
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#define MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT_LEN 9
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#define MAVLINK_MSG_ID_60_LEN 9
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#define MAVLINK_MESSAGE_INFO_SET_QUAD_MOTORS_SETPOINT { \
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"SET_QUAD_MOTORS_SETPOINT", \
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5, \
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{ { "motor_front_nw", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_set_quad_motors_setpoint_t, motor_front_nw) }, \
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{ "motor_right_ne", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_set_quad_motors_setpoint_t, motor_right_ne) }, \
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{ "motor_back_se", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_set_quad_motors_setpoint_t, motor_back_se) }, \
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{ "motor_left_sw", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_set_quad_motors_setpoint_t, motor_left_sw) }, \
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{ "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_set_quad_motors_setpoint_t, target_system) }, \
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} \
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}
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/**
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* @brief Pack a set_quad_motors_setpoint 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 of the system that should set these motor commands
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* @param motor_front_nw Front motor in + configuration, front left motor in x configuration
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* @param motor_right_ne Right motor in + configuration, front right motor in x configuration
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* @param motor_back_se Back motor in + configuration, back right motor in x configuration
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* @param motor_left_sw Left motor in + configuration, back left motor in x configuration
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* @return length of the message in bytes (excluding serial stream start sign)
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*/
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static inline uint16_t mavlink_msg_set_quad_motors_setpoint_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint8_t target_system, uint16_t motor_front_nw, uint16_t motor_right_ne, uint16_t motor_back_se, uint16_t motor_left_sw)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[9];
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_mav_put_uint16_t(buf, 0, motor_front_nw);
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_mav_put_uint16_t(buf, 2, motor_right_ne);
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_mav_put_uint16_t(buf, 4, motor_back_se);
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_mav_put_uint16_t(buf, 6, motor_left_sw);
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_mav_put_uint8_t(buf, 8, target_system);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 9);
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#else
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mavlink_set_quad_motors_setpoint_t packet;
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packet.motor_front_nw = motor_front_nw;
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packet.motor_right_ne = motor_right_ne;
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packet.motor_back_se = motor_back_se;
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packet.motor_left_sw = motor_left_sw;
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packet.target_system = target_system;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 9);
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#endif
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msg->msgid = MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT;
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return mavlink_finalize_message(msg, system_id, component_id, 9, 30);
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}
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/**
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* @brief Pack a set_quad_motors_setpoint 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 target_system System ID of the system that should set these motor commands
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* @param motor_front_nw Front motor in + configuration, front left motor in x configuration
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* @param motor_right_ne Right motor in + configuration, front right motor in x configuration
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* @param motor_back_se Back motor in + configuration, back right motor in x configuration
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* @param motor_left_sw Left motor in + configuration, back left motor in x configuration
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* @return length of the message in bytes (excluding serial stream start sign)
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*/
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static inline uint16_t mavlink_msg_set_quad_motors_setpoint_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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uint8_t target_system,uint16_t motor_front_nw,uint16_t motor_right_ne,uint16_t motor_back_se,uint16_t motor_left_sw)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[9];
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_mav_put_uint16_t(buf, 0, motor_front_nw);
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_mav_put_uint16_t(buf, 2, motor_right_ne);
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_mav_put_uint16_t(buf, 4, motor_back_se);
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_mav_put_uint16_t(buf, 6, motor_left_sw);
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_mav_put_uint8_t(buf, 8, target_system);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 9);
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#else
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mavlink_set_quad_motors_setpoint_t packet;
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packet.motor_front_nw = motor_front_nw;
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packet.motor_right_ne = motor_right_ne;
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packet.motor_back_se = motor_back_se;
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packet.motor_left_sw = motor_left_sw;
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packet.target_system = target_system;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 9);
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#endif
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msg->msgid = MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 9, 30);
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}
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/**
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* @brief Encode a set_quad_motors_setpoint struct into a message
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*
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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* @param set_quad_motors_setpoint C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_set_quad_motors_setpoint_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_quad_motors_setpoint_t* set_quad_motors_setpoint)
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{
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return mavlink_msg_set_quad_motors_setpoint_pack(system_id, component_id, msg, set_quad_motors_setpoint->target_system, set_quad_motors_setpoint->motor_front_nw, set_quad_motors_setpoint->motor_right_ne, set_quad_motors_setpoint->motor_back_se, set_quad_motors_setpoint->motor_left_sw);
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}
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/**
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* @brief Send a set_quad_motors_setpoint 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 of the system that should set these motor commands
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* @param motor_front_nw Front motor in + configuration, front left motor in x configuration
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* @param motor_right_ne Right motor in + configuration, front right motor in x configuration
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* @param motor_back_se Back motor in + configuration, back right motor in x configuration
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* @param motor_left_sw Left motor in + configuration, back left motor in x configuration
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_set_quad_motors_setpoint_send(mavlink_channel_t chan, uint8_t target_system, uint16_t motor_front_nw, uint16_t motor_right_ne, uint16_t motor_back_se, uint16_t motor_left_sw)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[9];
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_mav_put_uint16_t(buf, 0, motor_front_nw);
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_mav_put_uint16_t(buf, 2, motor_right_ne);
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_mav_put_uint16_t(buf, 4, motor_back_se);
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_mav_put_uint16_t(buf, 6, motor_left_sw);
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_mav_put_uint8_t(buf, 8, target_system);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT, buf, 9, 30);
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#else
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mavlink_set_quad_motors_setpoint_t packet;
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packet.motor_front_nw = motor_front_nw;
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packet.motor_right_ne = motor_right_ne;
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packet.motor_back_se = motor_back_se;
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packet.motor_left_sw = motor_left_sw;
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packet.target_system = target_system;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT, (const char *)&packet, 9, 30);
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#endif
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}
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#endif
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// MESSAGE SET_QUAD_MOTORS_SETPOINT UNPACKING
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/**
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* @brief Get field target_system from set_quad_motors_setpoint message
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*
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* @return System ID of the system that should set these motor commands
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*/
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static inline uint8_t mavlink_msg_set_quad_motors_setpoint_get_target_system(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 8);
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}
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/**
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* @brief Get field motor_front_nw from set_quad_motors_setpoint message
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*
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* @return Front motor in + configuration, front left motor in x configuration
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*/
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static inline uint16_t mavlink_msg_set_quad_motors_setpoint_get_motor_front_nw(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint16_t(msg, 0);
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}
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/**
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* @brief Get field motor_right_ne from set_quad_motors_setpoint message
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*
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* @return Right motor in + configuration, front right motor in x configuration
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*/
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static inline uint16_t mavlink_msg_set_quad_motors_setpoint_get_motor_right_ne(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint16_t(msg, 2);
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}
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/**
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* @brief Get field motor_back_se from set_quad_motors_setpoint message
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*
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* @return Back motor in + configuration, back right motor in x configuration
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*/
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static inline uint16_t mavlink_msg_set_quad_motors_setpoint_get_motor_back_se(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint16_t(msg, 4);
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}
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/**
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* @brief Get field motor_left_sw from set_quad_motors_setpoint message
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*
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* @return Left motor in + configuration, back left motor in x configuration
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*/
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static inline uint16_t mavlink_msg_set_quad_motors_setpoint_get_motor_left_sw(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint16_t(msg, 6);
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}
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/**
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* @brief Decode a set_quad_motors_setpoint message into a struct
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*
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* @param msg The message to decode
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* @param set_quad_motors_setpoint C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_set_quad_motors_setpoint_decode(const mavlink_message_t* msg, mavlink_set_quad_motors_setpoint_t* set_quad_motors_setpoint)
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{
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#if MAVLINK_NEED_BYTE_SWAP
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set_quad_motors_setpoint->motor_front_nw = mavlink_msg_set_quad_motors_setpoint_get_motor_front_nw(msg);
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set_quad_motors_setpoint->motor_right_ne = mavlink_msg_set_quad_motors_setpoint_get_motor_right_ne(msg);
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set_quad_motors_setpoint->motor_back_se = mavlink_msg_set_quad_motors_setpoint_get_motor_back_se(msg);
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set_quad_motors_setpoint->motor_left_sw = mavlink_msg_set_quad_motors_setpoint_get_motor_left_sw(msg);
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set_quad_motors_setpoint->target_system = mavlink_msg_set_quad_motors_setpoint_get_target_system(msg);
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#else
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memcpy(set_quad_motors_setpoint, _MAV_PAYLOAD(msg), 9);
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#endif
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}
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