339 lines
15 KiB
C
339 lines
15 KiB
C
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#pragma once
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// MESSAGE MOUNT_CONTROL PACKING
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#define MAVLINK_MSG_ID_MOUNT_CONTROL 157
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MAVPACKED(
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typedef struct __mavlink_mount_control_t {
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int32_t input_a; /*< Pitch (centi-degrees) or lat (degE7), depending on mount mode.*/
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int32_t input_b; /*< Roll (centi-degrees) or lon (degE7) depending on mount mode.*/
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int32_t input_c; /*< Yaw (centi-degrees) or alt (cm) depending on mount mode.*/
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uint8_t target_system; /*< System ID.*/
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uint8_t target_component; /*< Component ID.*/
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uint8_t save_position; /*< If "1" it will save current trimmed position on EEPROM (just valid for NEUTRAL and LANDING).*/
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}) mavlink_mount_control_t;
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#define MAVLINK_MSG_ID_MOUNT_CONTROL_LEN 15
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#define MAVLINK_MSG_ID_MOUNT_CONTROL_MIN_LEN 15
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#define MAVLINK_MSG_ID_157_LEN 15
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#define MAVLINK_MSG_ID_157_MIN_LEN 15
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#define MAVLINK_MSG_ID_MOUNT_CONTROL_CRC 21
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#define MAVLINK_MSG_ID_157_CRC 21
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_MOUNT_CONTROL { \
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157, \
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"MOUNT_CONTROL", \
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6, \
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{ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 12, offsetof(mavlink_mount_control_t, target_system) }, \
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{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 13, offsetof(mavlink_mount_control_t, target_component) }, \
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{ "input_a", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_mount_control_t, input_a) }, \
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{ "input_b", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_mount_control_t, input_b) }, \
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{ "input_c", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_mount_control_t, input_c) }, \
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{ "save_position", NULL, MAVLINK_TYPE_UINT8_T, 0, 14, offsetof(mavlink_mount_control_t, save_position) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_MOUNT_CONTROL { \
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"MOUNT_CONTROL", \
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6, \
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{ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 12, offsetof(mavlink_mount_control_t, target_system) }, \
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{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 13, offsetof(mavlink_mount_control_t, target_component) }, \
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{ "input_a", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_mount_control_t, input_a) }, \
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{ "input_b", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_mount_control_t, input_b) }, \
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{ "input_c", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_mount_control_t, input_c) }, \
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{ "save_position", NULL, MAVLINK_TYPE_UINT8_T, 0, 14, offsetof(mavlink_mount_control_t, save_position) }, \
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} \
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}
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#endif
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/**
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* @brief Pack a mount_control message
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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*
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* @param target_system System ID.
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* @param target_component Component ID.
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* @param input_a Pitch (centi-degrees) or lat (degE7), depending on mount mode.
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* @param input_b Roll (centi-degrees) or lon (degE7) depending on mount mode.
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* @param input_c Yaw (centi-degrees) or alt (cm) depending on mount mode.
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* @param save_position If "1" it will save current trimmed position on EEPROM (just valid for NEUTRAL and LANDING).
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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_mount_control_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint8_t target_system, uint8_t target_component, int32_t input_a, int32_t input_b, int32_t input_c, uint8_t save_position)
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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_MOUNT_CONTROL_LEN];
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_mav_put_int32_t(buf, 0, input_a);
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_mav_put_int32_t(buf, 4, input_b);
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_mav_put_int32_t(buf, 8, input_c);
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_mav_put_uint8_t(buf, 12, target_system);
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_mav_put_uint8_t(buf, 13, target_component);
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_mav_put_uint8_t(buf, 14, save_position);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MOUNT_CONTROL_LEN);
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#else
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mavlink_mount_control_t packet;
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packet.input_a = input_a;
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packet.input_b = input_b;
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packet.input_c = input_c;
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packet.target_system = target_system;
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packet.target_component = target_component;
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packet.save_position = save_position;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MOUNT_CONTROL_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_MOUNT_CONTROL;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_MOUNT_CONTROL_MIN_LEN, MAVLINK_MSG_ID_MOUNT_CONTROL_LEN, MAVLINK_MSG_ID_MOUNT_CONTROL_CRC);
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}
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/**
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* @brief Pack a mount_control 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 target_system System ID.
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* @param target_component Component ID.
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* @param input_a Pitch (centi-degrees) or lat (degE7), depending on mount mode.
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* @param input_b Roll (centi-degrees) or lon (degE7) depending on mount mode.
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* @param input_c Yaw (centi-degrees) or alt (cm) depending on mount mode.
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* @param save_position If "1" it will save current trimmed position on EEPROM (just valid for NEUTRAL and LANDING).
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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_mount_control_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,uint8_t target_component,int32_t input_a,int32_t input_b,int32_t input_c,uint8_t save_position)
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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_MOUNT_CONTROL_LEN];
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_mav_put_int32_t(buf, 0, input_a);
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_mav_put_int32_t(buf, 4, input_b);
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_mav_put_int32_t(buf, 8, input_c);
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_mav_put_uint8_t(buf, 12, target_system);
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_mav_put_uint8_t(buf, 13, target_component);
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_mav_put_uint8_t(buf, 14, save_position);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MOUNT_CONTROL_LEN);
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#else
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mavlink_mount_control_t packet;
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packet.input_a = input_a;
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packet.input_b = input_b;
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packet.input_c = input_c;
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packet.target_system = target_system;
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packet.target_component = target_component;
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packet.save_position = save_position;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MOUNT_CONTROL_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_MOUNT_CONTROL;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_MOUNT_CONTROL_MIN_LEN, MAVLINK_MSG_ID_MOUNT_CONTROL_LEN, MAVLINK_MSG_ID_MOUNT_CONTROL_CRC);
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}
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/**
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* @brief Encode a mount_control 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 mount_control C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_mount_control_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_mount_control_t* mount_control)
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{
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return mavlink_msg_mount_control_pack(system_id, component_id, msg, mount_control->target_system, mount_control->target_component, mount_control->input_a, mount_control->input_b, mount_control->input_c, mount_control->save_position);
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}
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/**
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* @brief Encode a mount_control 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 mount_control C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_mount_control_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_mount_control_t* mount_control)
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{
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return mavlink_msg_mount_control_pack_chan(system_id, component_id, chan, msg, mount_control->target_system, mount_control->target_component, mount_control->input_a, mount_control->input_b, mount_control->input_c, mount_control->save_position);
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}
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/**
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* @brief Send a mount_control 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 input_a Pitch (centi-degrees) or lat (degE7), depending on mount mode.
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* @param input_b Roll (centi-degrees) or lon (degE7) depending on mount mode.
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* @param input_c Yaw (centi-degrees) or alt (cm) depending on mount mode.
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* @param save_position If "1" it will save current trimmed position on EEPROM (just valid for NEUTRAL and LANDING).
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_mount_control_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, int32_t input_a, int32_t input_b, int32_t input_c, uint8_t save_position)
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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_MOUNT_CONTROL_LEN];
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_mav_put_int32_t(buf, 0, input_a);
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_mav_put_int32_t(buf, 4, input_b);
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_mav_put_int32_t(buf, 8, input_c);
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_mav_put_uint8_t(buf, 12, target_system);
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_mav_put_uint8_t(buf, 13, target_component);
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_mav_put_uint8_t(buf, 14, save_position);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_CONTROL, buf, MAVLINK_MSG_ID_MOUNT_CONTROL_MIN_LEN, MAVLINK_MSG_ID_MOUNT_CONTROL_LEN, MAVLINK_MSG_ID_MOUNT_CONTROL_CRC);
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#else
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mavlink_mount_control_t packet;
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packet.input_a = input_a;
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packet.input_b = input_b;
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packet.input_c = input_c;
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packet.target_system = target_system;
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packet.target_component = target_component;
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packet.save_position = save_position;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_CONTROL, (const char *)&packet, MAVLINK_MSG_ID_MOUNT_CONTROL_MIN_LEN, MAVLINK_MSG_ID_MOUNT_CONTROL_LEN, MAVLINK_MSG_ID_MOUNT_CONTROL_CRC);
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#endif
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}
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/**
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* @brief Send a mount_control 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_mount_control_send_struct(mavlink_channel_t chan, const mavlink_mount_control_t* mount_control)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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mavlink_msg_mount_control_send(chan, mount_control->target_system, mount_control->target_component, mount_control->input_a, mount_control->input_b, mount_control->input_c, mount_control->save_position);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_CONTROL, (const char *)mount_control, MAVLINK_MSG_ID_MOUNT_CONTROL_MIN_LEN, MAVLINK_MSG_ID_MOUNT_CONTROL_LEN, MAVLINK_MSG_ID_MOUNT_CONTROL_CRC);
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#endif
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}
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#if MAVLINK_MSG_ID_MOUNT_CONTROL_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_mount_control_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, int32_t input_a, int32_t input_b, int32_t input_c, uint8_t save_position)
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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_int32_t(buf, 0, input_a);
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_mav_put_int32_t(buf, 4, input_b);
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_mav_put_int32_t(buf, 8, input_c);
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_mav_put_uint8_t(buf, 12, target_system);
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_mav_put_uint8_t(buf, 13, target_component);
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_mav_put_uint8_t(buf, 14, save_position);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_CONTROL, buf, MAVLINK_MSG_ID_MOUNT_CONTROL_MIN_LEN, MAVLINK_MSG_ID_MOUNT_CONTROL_LEN, MAVLINK_MSG_ID_MOUNT_CONTROL_CRC);
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#else
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mavlink_mount_control_t *packet = (mavlink_mount_control_t *)msgbuf;
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packet->input_a = input_a;
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packet->input_b = input_b;
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packet->input_c = input_c;
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packet->target_system = target_system;
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packet->target_component = target_component;
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packet->save_position = save_position;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_CONTROL, (const char *)packet, MAVLINK_MSG_ID_MOUNT_CONTROL_MIN_LEN, MAVLINK_MSG_ID_MOUNT_CONTROL_LEN, MAVLINK_MSG_ID_MOUNT_CONTROL_CRC);
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#endif
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}
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#endif
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#endif
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// MESSAGE MOUNT_CONTROL UNPACKING
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/**
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* @brief Get field target_system from mount_control 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_mount_control_get_target_system(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 12);
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}
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/**
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* @brief Get field target_component from mount_control 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_mount_control_get_target_component(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 13);
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}
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/**
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||
|
|
* @brief Get field input_a from mount_control message
|
||
|
|
*
|
||
|
|
* @return Pitch (centi-degrees) or lat (degE7), depending on mount mode.
|
||
|
|
*/
|
||
|
|
static inline int32_t mavlink_msg_mount_control_get_input_a(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_int32_t(msg, 0);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field input_b from mount_control message
|
||
|
|
*
|
||
|
|
* @return Roll (centi-degrees) or lon (degE7) depending on mount mode.
|
||
|
|
*/
|
||
|
|
static inline int32_t mavlink_msg_mount_control_get_input_b(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_int32_t(msg, 4);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field input_c from mount_control message
|
||
|
|
*
|
||
|
|
* @return Yaw (centi-degrees) or alt (cm) depending on mount mode.
|
||
|
|
*/
|
||
|
|
static inline int32_t mavlink_msg_mount_control_get_input_c(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_int32_t(msg, 8);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field save_position from mount_control message
|
||
|
|
*
|
||
|
|
* @return If "1" it will save current trimmed position on EEPROM (just valid for NEUTRAL and LANDING).
|
||
|
|
*/
|
||
|
|
static inline uint8_t mavlink_msg_mount_control_get_save_position(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_uint8_t(msg, 14);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Decode a mount_control message into a struct
|
||
|
|
*
|
||
|
|
* @param msg The message to decode
|
||
|
|
* @param mount_control C-struct to decode the message contents into
|
||
|
|
*/
|
||
|
|
static inline void mavlink_msg_mount_control_decode(const mavlink_message_t* msg, mavlink_mount_control_t* mount_control)
|
||
|
|
{
|
||
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||
|
|
mount_control->input_a = mavlink_msg_mount_control_get_input_a(msg);
|
||
|
|
mount_control->input_b = mavlink_msg_mount_control_get_input_b(msg);
|
||
|
|
mount_control->input_c = mavlink_msg_mount_control_get_input_c(msg);
|
||
|
|
mount_control->target_system = mavlink_msg_mount_control_get_target_system(msg);
|
||
|
|
mount_control->target_component = mavlink_msg_mount_control_get_target_component(msg);
|
||
|
|
mount_control->save_position = mavlink_msg_mount_control_get_save_position(msg);
|
||
|
|
#else
|
||
|
|
uint8_t len = msg->len < MAVLINK_MSG_ID_MOUNT_CONTROL_LEN? msg->len : MAVLINK_MSG_ID_MOUNT_CONTROL_LEN;
|
||
|
|
memset(mount_control, 0, MAVLINK_MSG_ID_MOUNT_CONTROL_LEN);
|
||
|
|
memcpy(mount_control, _MAV_PAYLOAD(msg), len);
|
||
|
|
#endif
|
||
|
|
}
|