356 lines
17 KiB
C
356 lines
17 KiB
C
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#pragma once
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// MESSAGE ATTITUDE_TARGET PACKING
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#define MAVLINK_MSG_ID_ATTITUDE_TARGET 83
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MAVPACKED(
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typedef struct __mavlink_attitude_target_t {
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uint32_t time_boot_ms; /*< [ms] Timestamp (time since system boot).*/
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float q[4]; /*< Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)*/
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float body_roll_rate; /*< [rad/s] Body roll rate*/
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float body_pitch_rate; /*< [rad/s] Body pitch rate*/
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float body_yaw_rate; /*< [rad/s] Body yaw rate*/
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float thrust; /*< Collective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust)*/
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uint8_t type_mask; /*< Mappings: If any of these bits are set, the corresponding input should be ignored: bit 1: body roll rate, bit 2: body pitch rate, bit 3: body yaw rate. bit 4-bit 7: reserved, bit 8: attitude*/
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}) mavlink_attitude_target_t;
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#define MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN 37
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#define MAVLINK_MSG_ID_ATTITUDE_TARGET_MIN_LEN 37
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#define MAVLINK_MSG_ID_83_LEN 37
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#define MAVLINK_MSG_ID_83_MIN_LEN 37
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#define MAVLINK_MSG_ID_ATTITUDE_TARGET_CRC 22
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#define MAVLINK_MSG_ID_83_CRC 22
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#define MAVLINK_MSG_ATTITUDE_TARGET_FIELD_Q_LEN 4
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_ATTITUDE_TARGET { \
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83, \
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"ATTITUDE_TARGET", \
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7, \
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{ { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_attitude_target_t, time_boot_ms) }, \
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{ "type_mask", NULL, MAVLINK_TYPE_UINT8_T, 0, 36, offsetof(mavlink_attitude_target_t, type_mask) }, \
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{ "q", NULL, MAVLINK_TYPE_FLOAT, 4, 4, offsetof(mavlink_attitude_target_t, q) }, \
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{ "body_roll_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_attitude_target_t, body_roll_rate) }, \
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{ "body_pitch_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_attitude_target_t, body_pitch_rate) }, \
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{ "body_yaw_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_attitude_target_t, body_yaw_rate) }, \
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{ "thrust", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_attitude_target_t, thrust) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_ATTITUDE_TARGET { \
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"ATTITUDE_TARGET", \
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7, \
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{ { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_attitude_target_t, time_boot_ms) }, \
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{ "type_mask", NULL, MAVLINK_TYPE_UINT8_T, 0, 36, offsetof(mavlink_attitude_target_t, type_mask) }, \
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{ "q", NULL, MAVLINK_TYPE_FLOAT, 4, 4, offsetof(mavlink_attitude_target_t, q) }, \
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{ "body_roll_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_attitude_target_t, body_roll_rate) }, \
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{ "body_pitch_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_attitude_target_t, body_pitch_rate) }, \
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{ "body_yaw_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_attitude_target_t, body_yaw_rate) }, \
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{ "thrust", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_attitude_target_t, thrust) }, \
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} \
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}
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#endif
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/**
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* @brief Pack a attitude_target 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_boot_ms [ms] Timestamp (time since system boot).
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* @param type_mask Mappings: If any of these bits are set, the corresponding input should be ignored: bit 1: body roll rate, bit 2: body pitch rate, bit 3: body yaw rate. bit 4-bit 7: reserved, bit 8: attitude
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* @param q Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
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* @param body_roll_rate [rad/s] Body roll rate
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* @param body_pitch_rate [rad/s] Body pitch rate
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* @param body_yaw_rate [rad/s] Body yaw rate
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* @param thrust Collective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust)
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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_attitude_target_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint32_t time_boot_ms, uint8_t type_mask, const float *q, float body_roll_rate, float body_pitch_rate, float body_yaw_rate, float thrust)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN];
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_mav_put_uint32_t(buf, 0, time_boot_ms);
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_mav_put_float(buf, 20, body_roll_rate);
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_mav_put_float(buf, 24, body_pitch_rate);
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_mav_put_float(buf, 28, body_yaw_rate);
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_mav_put_float(buf, 32, thrust);
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_mav_put_uint8_t(buf, 36, type_mask);
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_mav_put_float_array(buf, 4, q, 4);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN);
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#else
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mavlink_attitude_target_t packet;
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packet.time_boot_ms = time_boot_ms;
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packet.body_roll_rate = body_roll_rate;
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packet.body_pitch_rate = body_pitch_rate;
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packet.body_yaw_rate = body_yaw_rate;
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packet.thrust = thrust;
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packet.type_mask = type_mask;
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mav_array_memcpy(packet.q, q, sizeof(float)*4);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_ATTITUDE_TARGET;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ATTITUDE_TARGET_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN, MAVLINK_MSG_ID_ATTITUDE_TARGET_CRC);
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}
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/**
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* @brief Pack a attitude_target 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 will be sent over
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* @param msg The MAVLink message to compress the data into
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* @param time_boot_ms [ms] Timestamp (time since system boot).
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* @param type_mask Mappings: If any of these bits are set, the corresponding input should be ignored: bit 1: body roll rate, bit 2: body pitch rate, bit 3: body yaw rate. bit 4-bit 7: reserved, bit 8: attitude
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* @param q Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
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* @param body_roll_rate [rad/s] Body roll rate
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* @param body_pitch_rate [rad/s] Body pitch rate
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* @param body_yaw_rate [rad/s] Body yaw rate
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* @param thrust Collective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust)
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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_attitude_target_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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uint32_t time_boot_ms,uint8_t type_mask,const float *q,float body_roll_rate,float body_pitch_rate,float body_yaw_rate,float thrust)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN];
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_mav_put_uint32_t(buf, 0, time_boot_ms);
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_mav_put_float(buf, 20, body_roll_rate);
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_mav_put_float(buf, 24, body_pitch_rate);
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_mav_put_float(buf, 28, body_yaw_rate);
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_mav_put_float(buf, 32, thrust);
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_mav_put_uint8_t(buf, 36, type_mask);
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_mav_put_float_array(buf, 4, q, 4);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN);
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#else
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mavlink_attitude_target_t packet;
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packet.time_boot_ms = time_boot_ms;
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packet.body_roll_rate = body_roll_rate;
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packet.body_pitch_rate = body_pitch_rate;
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packet.body_yaw_rate = body_yaw_rate;
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packet.thrust = thrust;
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packet.type_mask = type_mask;
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mav_array_memcpy(packet.q, q, sizeof(float)*4);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_ATTITUDE_TARGET;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ATTITUDE_TARGET_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN, MAVLINK_MSG_ID_ATTITUDE_TARGET_CRC);
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}
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/**
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* @brief Encode a attitude_target struct
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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 attitude_target C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_attitude_target_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_attitude_target_t* attitude_target)
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{
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return mavlink_msg_attitude_target_pack(system_id, component_id, msg, attitude_target->time_boot_ms, attitude_target->type_mask, attitude_target->q, attitude_target->body_roll_rate, attitude_target->body_pitch_rate, attitude_target->body_yaw_rate, attitude_target->thrust);
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}
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/**
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* @brief Encode a attitude_target struct on a channel
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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 chan The MAVLink channel this message will be sent over
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* @param msg The MAVLink message to compress the data into
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* @param attitude_target C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_attitude_target_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_attitude_target_t* attitude_target)
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{
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return mavlink_msg_attitude_target_pack_chan(system_id, component_id, chan, msg, attitude_target->time_boot_ms, attitude_target->type_mask, attitude_target->q, attitude_target->body_roll_rate, attitude_target->body_pitch_rate, attitude_target->body_yaw_rate, attitude_target->thrust);
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}
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/**
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* @brief Send a attitude_target message
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* @param chan MAVLink channel to send the message
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*
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* @param time_boot_ms [ms] Timestamp (time since system boot).
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* @param type_mask Mappings: If any of these bits are set, the corresponding input should be ignored: bit 1: body roll rate, bit 2: body pitch rate, bit 3: body yaw rate. bit 4-bit 7: reserved, bit 8: attitude
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* @param q Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
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* @param body_roll_rate [rad/s] Body roll rate
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* @param body_pitch_rate [rad/s] Body pitch rate
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* @param body_yaw_rate [rad/s] Body yaw rate
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* @param thrust Collective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust)
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_attitude_target_send(mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t type_mask, const float *q, float body_roll_rate, float body_pitch_rate, float body_yaw_rate, float thrust)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN];
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_mav_put_uint32_t(buf, 0, time_boot_ms);
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_mav_put_float(buf, 20, body_roll_rate);
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_mav_put_float(buf, 24, body_pitch_rate);
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_mav_put_float(buf, 28, body_yaw_rate);
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_mav_put_float(buf, 32, thrust);
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_mav_put_uint8_t(buf, 36, type_mask);
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_mav_put_float_array(buf, 4, q, 4);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_TARGET, buf, MAVLINK_MSG_ID_ATTITUDE_TARGET_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN, MAVLINK_MSG_ID_ATTITUDE_TARGET_CRC);
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#else
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mavlink_attitude_target_t packet;
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packet.time_boot_ms = time_boot_ms;
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packet.body_roll_rate = body_roll_rate;
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packet.body_pitch_rate = body_pitch_rate;
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packet.body_yaw_rate = body_yaw_rate;
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packet.thrust = thrust;
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packet.type_mask = type_mask;
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mav_array_memcpy(packet.q, q, sizeof(float)*4);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_TARGET, (const char *)&packet, MAVLINK_MSG_ID_ATTITUDE_TARGET_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN, MAVLINK_MSG_ID_ATTITUDE_TARGET_CRC);
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#endif
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}
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/**
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* @brief Send a attitude_target message
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* @param chan MAVLink channel to send the message
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* @param struct The MAVLink struct to serialize
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*/
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static inline void mavlink_msg_attitude_target_send_struct(mavlink_channel_t chan, const mavlink_attitude_target_t* attitude_target)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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mavlink_msg_attitude_target_send(chan, attitude_target->time_boot_ms, attitude_target->type_mask, attitude_target->q, attitude_target->body_roll_rate, attitude_target->body_pitch_rate, attitude_target->body_yaw_rate, attitude_target->thrust);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_TARGET, (const char *)attitude_target, MAVLINK_MSG_ID_ATTITUDE_TARGET_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN, MAVLINK_MSG_ID_ATTITUDE_TARGET_CRC);
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#endif
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}
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#if MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN <= MAVLINK_MAX_PAYLOAD_LEN
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/*
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This varient of _send() can be used to save stack space by re-using
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memory from the receive buffer. The caller provides a
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mavlink_message_t which is the size of a full mavlink message. This
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is usually the receive buffer for the channel, and allows a reply to an
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incoming message with minimum stack space usage.
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*/
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static inline void mavlink_msg_attitude_target_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t type_mask, const float *q, float body_roll_rate, float body_pitch_rate, float body_yaw_rate, float thrust)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char *buf = (char *)msgbuf;
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_mav_put_uint32_t(buf, 0, time_boot_ms);
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_mav_put_float(buf, 20, body_roll_rate);
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_mav_put_float(buf, 24, body_pitch_rate);
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_mav_put_float(buf, 28, body_yaw_rate);
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_mav_put_float(buf, 32, thrust);
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_mav_put_uint8_t(buf, 36, type_mask);
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_mav_put_float_array(buf, 4, q, 4);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_TARGET, buf, MAVLINK_MSG_ID_ATTITUDE_TARGET_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN, MAVLINK_MSG_ID_ATTITUDE_TARGET_CRC);
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#else
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mavlink_attitude_target_t *packet = (mavlink_attitude_target_t *)msgbuf;
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packet->time_boot_ms = time_boot_ms;
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packet->body_roll_rate = body_roll_rate;
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packet->body_pitch_rate = body_pitch_rate;
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packet->body_yaw_rate = body_yaw_rate;
|
||
|
|
packet->thrust = thrust;
|
||
|
|
packet->type_mask = type_mask;
|
||
|
|
mav_array_memcpy(packet->q, q, sizeof(float)*4);
|
||
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_TARGET, (const char *)packet, MAVLINK_MSG_ID_ATTITUDE_TARGET_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN, MAVLINK_MSG_ID_ATTITUDE_TARGET_CRC);
|
||
|
|
#endif
|
||
|
|
}
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#endif
|
||
|
|
|
||
|
|
// MESSAGE ATTITUDE_TARGET UNPACKING
|
||
|
|
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field time_boot_ms from attitude_target message
|
||
|
|
*
|
||
|
|
* @return [ms] Timestamp (time since system boot).
|
||
|
|
*/
|
||
|
|
static inline uint32_t mavlink_msg_attitude_target_get_time_boot_ms(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_uint32_t(msg, 0);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field type_mask from attitude_target message
|
||
|
|
*
|
||
|
|
* @return Mappings: If any of these bits are set, the corresponding input should be ignored: bit 1: body roll rate, bit 2: body pitch rate, bit 3: body yaw rate. bit 4-bit 7: reserved, bit 8: attitude
|
||
|
|
*/
|
||
|
|
static inline uint8_t mavlink_msg_attitude_target_get_type_mask(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_uint8_t(msg, 36);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field q from attitude_target message
|
||
|
|
*
|
||
|
|
* @return Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
|
||
|
|
*/
|
||
|
|
static inline uint16_t mavlink_msg_attitude_target_get_q(const mavlink_message_t* msg, float *q)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_float_array(msg, q, 4, 4);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field body_roll_rate from attitude_target message
|
||
|
|
*
|
||
|
|
* @return [rad/s] Body roll rate
|
||
|
|
*/
|
||
|
|
static inline float mavlink_msg_attitude_target_get_body_roll_rate(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_float(msg, 20);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field body_pitch_rate from attitude_target message
|
||
|
|
*
|
||
|
|
* @return [rad/s] Body pitch rate
|
||
|
|
*/
|
||
|
|
static inline float mavlink_msg_attitude_target_get_body_pitch_rate(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_float(msg, 24);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field body_yaw_rate from attitude_target message
|
||
|
|
*
|
||
|
|
* @return [rad/s] Body yaw rate
|
||
|
|
*/
|
||
|
|
static inline float mavlink_msg_attitude_target_get_body_yaw_rate(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_float(msg, 28);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field thrust from attitude_target message
|
||
|
|
*
|
||
|
|
* @return Collective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust)
|
||
|
|
*/
|
||
|
|
static inline float mavlink_msg_attitude_target_get_thrust(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_float(msg, 32);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Decode a attitude_target message into a struct
|
||
|
|
*
|
||
|
|
* @param msg The message to decode
|
||
|
|
* @param attitude_target C-struct to decode the message contents into
|
||
|
|
*/
|
||
|
|
static inline void mavlink_msg_attitude_target_decode(const mavlink_message_t* msg, mavlink_attitude_target_t* attitude_target)
|
||
|
|
{
|
||
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||
|
|
attitude_target->time_boot_ms = mavlink_msg_attitude_target_get_time_boot_ms(msg);
|
||
|
|
mavlink_msg_attitude_target_get_q(msg, attitude_target->q);
|
||
|
|
attitude_target->body_roll_rate = mavlink_msg_attitude_target_get_body_roll_rate(msg);
|
||
|
|
attitude_target->body_pitch_rate = mavlink_msg_attitude_target_get_body_pitch_rate(msg);
|
||
|
|
attitude_target->body_yaw_rate = mavlink_msg_attitude_target_get_body_yaw_rate(msg);
|
||
|
|
attitude_target->thrust = mavlink_msg_attitude_target_get_thrust(msg);
|
||
|
|
attitude_target->type_mask = mavlink_msg_attitude_target_get_type_mask(msg);
|
||
|
|
#else
|
||
|
|
uint8_t len = msg->len < MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN? msg->len : MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN;
|
||
|
|
memset(attitude_target, 0, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN);
|
||
|
|
memcpy(attitude_target, _MAV_PAYLOAD(msg), len);
|
||
|
|
#endif
|
||
|
|
}
|