#pragma once // MESSAGE RALLY_POINT PACKING #define MAVLINK_MSG_ID_RALLY_POINT 175 MAVPACKED( typedef struct __mavlink_rally_point_t { int32_t lat; /*< [degE7] Latitude of point.*/ int32_t lng; /*< [degE7] Longitude of point.*/ int16_t alt; /*< [m] Transit / loiter altitude relative to home.*/ int16_t break_alt; /*< [m] Break altitude relative to home.*/ uint16_t land_dir; /*< [cdeg] Heading to aim for when landing.*/ uint8_t target_system; /*< System ID.*/ uint8_t target_component; /*< Component ID.*/ uint8_t idx; /*< Point index (first point is 0).*/ uint8_t count; /*< Total number of points (for sanity checking).*/ uint8_t flags; /*< Configuration flags.*/ }) mavlink_rally_point_t; #define MAVLINK_MSG_ID_RALLY_POINT_LEN 19 #define MAVLINK_MSG_ID_RALLY_POINT_MIN_LEN 19 #define MAVLINK_MSG_ID_175_LEN 19 #define MAVLINK_MSG_ID_175_MIN_LEN 19 #define MAVLINK_MSG_ID_RALLY_POINT_CRC 138 #define MAVLINK_MSG_ID_175_CRC 138 #if MAVLINK_COMMAND_24BIT #define MAVLINK_MESSAGE_INFO_RALLY_POINT { \ 175, \ "RALLY_POINT", \ 10, \ { { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 14, offsetof(mavlink_rally_point_t, target_system) }, \ { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 15, offsetof(mavlink_rally_point_t, target_component) }, \ { "idx", NULL, MAVLINK_TYPE_UINT8_T, 0, 16, offsetof(mavlink_rally_point_t, idx) }, \ { "count", NULL, MAVLINK_TYPE_UINT8_T, 0, 17, offsetof(mavlink_rally_point_t, count) }, \ { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_rally_point_t, lat) }, \ { "lng", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_rally_point_t, lng) }, \ { "alt", NULL, MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_rally_point_t, alt) }, \ { "break_alt", NULL, MAVLINK_TYPE_INT16_T, 0, 10, offsetof(mavlink_rally_point_t, break_alt) }, \ { "land_dir", NULL, MAVLINK_TYPE_UINT16_T, 0, 12, offsetof(mavlink_rally_point_t, land_dir) }, \ { "flags", NULL, MAVLINK_TYPE_UINT8_T, 0, 18, offsetof(mavlink_rally_point_t, flags) }, \ } \ } #else #define MAVLINK_MESSAGE_INFO_RALLY_POINT { \ "RALLY_POINT", \ 10, \ { { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 14, offsetof(mavlink_rally_point_t, target_system) }, \ { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 15, offsetof(mavlink_rally_point_t, target_component) }, \ { "idx", NULL, MAVLINK_TYPE_UINT8_T, 0, 16, offsetof(mavlink_rally_point_t, idx) }, \ { "count", NULL, MAVLINK_TYPE_UINT8_T, 0, 17, offsetof(mavlink_rally_point_t, count) }, \ { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_rally_point_t, lat) }, \ { "lng", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_rally_point_t, lng) }, \ { "alt", NULL, MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_rally_point_t, alt) }, \ { "break_alt", NULL, MAVLINK_TYPE_INT16_T, 0, 10, offsetof(mavlink_rally_point_t, break_alt) }, \ { "land_dir", NULL, MAVLINK_TYPE_UINT16_T, 0, 12, offsetof(mavlink_rally_point_t, land_dir) }, \ { "flags", NULL, MAVLINK_TYPE_UINT8_T, 0, 18, offsetof(mavlink_rally_point_t, flags) }, \ } \ } #endif /** * @brief Pack a rally_point message * @param system_id ID of this system * @param component_id ID of this component (e.g. 200 for IMU) * @param msg The MAVLink message to compress the data into * * @param target_system System ID. * @param target_component Component ID. * @param idx Point index (first point is 0). * @param count Total number of points (for sanity checking). * @param lat [degE7] Latitude of point. * @param lng [degE7] Longitude of point. * @param alt [m] Transit / loiter altitude relative to home. * @param break_alt [m] Break altitude relative to home. * @param land_dir [cdeg] Heading to aim for when landing. * @param flags Configuration flags. * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_rally_point_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, uint8_t idx, uint8_t count, int32_t lat, int32_t lng, int16_t alt, int16_t break_alt, uint16_t land_dir, uint8_t flags) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_RALLY_POINT_LEN]; _mav_put_int32_t(buf, 0, lat); _mav_put_int32_t(buf, 4, lng); _mav_put_int16_t(buf, 8, alt); _mav_put_int16_t(buf, 10, break_alt); _mav_put_uint16_t(buf, 12, land_dir); _mav_put_uint8_t(buf, 14, target_system); _mav_put_uint8_t(buf, 15, target_component); _mav_put_uint8_t(buf, 16, idx); _mav_put_uint8_t(buf, 17, count); _mav_put_uint8_t(buf, 18, flags); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RALLY_POINT_LEN); #else mavlink_rally_point_t packet; packet.lat = lat; packet.lng = lng; packet.alt = alt; packet.break_alt = break_alt; packet.land_dir = land_dir; packet.target_system = target_system; packet.target_component = target_component; packet.idx = idx; packet.count = count; packet.flags = flags; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RALLY_POINT_LEN); #endif msg->msgid = MAVLINK_MSG_ID_RALLY_POINT; return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_RALLY_POINT_MIN_LEN, MAVLINK_MSG_ID_RALLY_POINT_LEN, MAVLINK_MSG_ID_RALLY_POINT_CRC); } /** * @brief Pack a rally_point message on a channel * @param system_id ID of this system * @param component_id ID of this component (e.g. 200 for IMU) * @param chan The MAVLink channel this message will be sent over * @param msg The MAVLink message to compress the data into * @param target_system System ID. * @param target_component Component ID. * @param idx Point index (first point is 0). * @param count Total number of points (for sanity checking). * @param lat [degE7] Latitude of point. * @param lng [degE7] Longitude of point. * @param alt [m] Transit / loiter altitude relative to home. * @param break_alt [m] Break altitude relative to home. * @param land_dir [cdeg] Heading to aim for when landing. * @param flags Configuration flags. * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_rally_point_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target_system,uint8_t target_component,uint8_t idx,uint8_t count,int32_t lat,int32_t lng,int16_t alt,int16_t break_alt,uint16_t land_dir,uint8_t flags) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_RALLY_POINT_LEN]; _mav_put_int32_t(buf, 0, lat); _mav_put_int32_t(buf, 4, lng); _mav_put_int16_t(buf, 8, alt); _mav_put_int16_t(buf, 10, break_alt); _mav_put_uint16_t(buf, 12, land_dir); _mav_put_uint8_t(buf, 14, target_system); _mav_put_uint8_t(buf, 15, target_component); _mav_put_uint8_t(buf, 16, idx); _mav_put_uint8_t(buf, 17, count); _mav_put_uint8_t(buf, 18, flags); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RALLY_POINT_LEN); #else mavlink_rally_point_t packet; packet.lat = lat; packet.lng = lng; packet.alt = alt; packet.break_alt = break_alt; packet.land_dir = land_dir; packet.target_system = target_system; packet.target_component = target_component; packet.idx = idx; packet.count = count; packet.flags = flags; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RALLY_POINT_LEN); #endif msg->msgid = MAVLINK_MSG_ID_RALLY_POINT; return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_RALLY_POINT_MIN_LEN, MAVLINK_MSG_ID_RALLY_POINT_LEN, MAVLINK_MSG_ID_RALLY_POINT_CRC); } /** * @brief Encode a rally_point struct * * @param system_id ID of this system * @param component_id ID of this component (e.g. 200 for IMU) * @param msg The MAVLink message to compress the data into * @param rally_point C-struct to read the message contents from */ static inline uint16_t mavlink_msg_rally_point_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_rally_point_t* rally_point) { return mavlink_msg_rally_point_pack(system_id, component_id, msg, rally_point->target_system, rally_point->target_component, rally_point->idx, rally_point->count, rally_point->lat, rally_point->lng, rally_point->alt, rally_point->break_alt, rally_point->land_dir, rally_point->flags); } /** * @brief Encode a rally_point struct on a channel * * @param system_id ID of this system * @param component_id ID of this component (e.g. 200 for IMU) * @param chan The MAVLink channel this message will be sent over * @param msg The MAVLink message to compress the data into * @param rally_point C-struct to read the message contents from */ static inline uint16_t mavlink_msg_rally_point_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_rally_point_t* rally_point) { return mavlink_msg_rally_point_pack_chan(system_id, component_id, chan, msg, rally_point->target_system, rally_point->target_component, rally_point->idx, rally_point->count, rally_point->lat, rally_point->lng, rally_point->alt, rally_point->break_alt, rally_point->land_dir, rally_point->flags); } /** * @brief Send a rally_point message * @param chan MAVLink channel to send the message * * @param target_system System ID. * @param target_component Component ID. * @param idx Point index (first point is 0). * @param count Total number of points (for sanity checking). * @param lat [degE7] Latitude of point. * @param lng [degE7] Longitude of point. * @param alt [m] Transit / loiter altitude relative to home. * @param break_alt [m] Break altitude relative to home. * @param land_dir [cdeg] Heading to aim for when landing. * @param flags Configuration flags. */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS static inline void mavlink_msg_rally_point_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t idx, uint8_t count, int32_t lat, int32_t lng, int16_t alt, int16_t break_alt, uint16_t land_dir, uint8_t flags) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_RALLY_POINT_LEN]; _mav_put_int32_t(buf, 0, lat); _mav_put_int32_t(buf, 4, lng); _mav_put_int16_t(buf, 8, alt); _mav_put_int16_t(buf, 10, break_alt); _mav_put_uint16_t(buf, 12, land_dir); _mav_put_uint8_t(buf, 14, target_system); _mav_put_uint8_t(buf, 15, target_component); _mav_put_uint8_t(buf, 16, idx); _mav_put_uint8_t(buf, 17, count); _mav_put_uint8_t(buf, 18, flags); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RALLY_POINT, buf, MAVLINK_MSG_ID_RALLY_POINT_MIN_LEN, MAVLINK_MSG_ID_RALLY_POINT_LEN, MAVLINK_MSG_ID_RALLY_POINT_CRC); #else mavlink_rally_point_t packet; packet.lat = lat; packet.lng = lng; packet.alt = alt; packet.break_alt = break_alt; packet.land_dir = land_dir; packet.target_system = target_system; packet.target_component = target_component; packet.idx = idx; packet.count = count; packet.flags = flags; _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RALLY_POINT, (const char *)&packet, MAVLINK_MSG_ID_RALLY_POINT_MIN_LEN, MAVLINK_MSG_ID_RALLY_POINT_LEN, MAVLINK_MSG_ID_RALLY_POINT_CRC); #endif } /** * @brief Send a rally_point message * @param chan MAVLink channel to send the message * @param struct The MAVLink struct to serialize */ static inline void mavlink_msg_rally_point_send_struct(mavlink_channel_t chan, const mavlink_rally_point_t* rally_point) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS mavlink_msg_rally_point_send(chan, rally_point->target_system, rally_point->target_component, rally_point->idx, rally_point->count, rally_point->lat, rally_point->lng, rally_point->alt, rally_point->break_alt, rally_point->land_dir, rally_point->flags); #else _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RALLY_POINT, (const char *)rally_point, MAVLINK_MSG_ID_RALLY_POINT_MIN_LEN, MAVLINK_MSG_ID_RALLY_POINT_LEN, MAVLINK_MSG_ID_RALLY_POINT_CRC); #endif } #if MAVLINK_MSG_ID_RALLY_POINT_LEN <= MAVLINK_MAX_PAYLOAD_LEN /* This varient of _send() can be used to save stack space by re-using memory from the receive buffer. The caller provides a mavlink_message_t which is the size of a full mavlink message. This is usually the receive buffer for the channel, and allows a reply to an incoming message with minimum stack space usage. */ static inline void mavlink_msg_rally_point_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t idx, uint8_t count, int32_t lat, int32_t lng, int16_t alt, int16_t break_alt, uint16_t land_dir, uint8_t flags) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char *buf = (char *)msgbuf; _mav_put_int32_t(buf, 0, lat); _mav_put_int32_t(buf, 4, lng); _mav_put_int16_t(buf, 8, alt); _mav_put_int16_t(buf, 10, break_alt); _mav_put_uint16_t(buf, 12, land_dir); _mav_put_uint8_t(buf, 14, target_system); _mav_put_uint8_t(buf, 15, target_component); _mav_put_uint8_t(buf, 16, idx); _mav_put_uint8_t(buf, 17, count); _mav_put_uint8_t(buf, 18, flags); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RALLY_POINT, buf, MAVLINK_MSG_ID_RALLY_POINT_MIN_LEN, MAVLINK_MSG_ID_RALLY_POINT_LEN, MAVLINK_MSG_ID_RALLY_POINT_CRC); #else mavlink_rally_point_t *packet = (mavlink_rally_point_t *)msgbuf; packet->lat = lat; packet->lng = lng; packet->alt = alt; packet->break_alt = break_alt; packet->land_dir = land_dir; packet->target_system = target_system; packet->target_component = target_component; packet->idx = idx; packet->count = count; packet->flags = flags; _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RALLY_POINT, (const char *)packet, MAVLINK_MSG_ID_RALLY_POINT_MIN_LEN, MAVLINK_MSG_ID_RALLY_POINT_LEN, MAVLINK_MSG_ID_RALLY_POINT_CRC); #endif } #endif #endif // MESSAGE RALLY_POINT UNPACKING /** * @brief Get field target_system from rally_point message * * @return System ID. */ static inline uint8_t mavlink_msg_rally_point_get_target_system(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 14); } /** * @brief Get field target_component from rally_point message * * @return Component ID. */ static inline uint8_t mavlink_msg_rally_point_get_target_component(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 15); } /** * @brief Get field idx from rally_point message * * @return Point index (first point is 0). */ static inline uint8_t mavlink_msg_rally_point_get_idx(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 16); } /** * @brief Get field count from rally_point message * * @return Total number of points (for sanity checking). */ static inline uint8_t mavlink_msg_rally_point_get_count(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 17); } /** * @brief Get field lat from rally_point message * * @return [degE7] Latitude of point. */ static inline int32_t mavlink_msg_rally_point_get_lat(const mavlink_message_t* msg) { return _MAV_RETURN_int32_t(msg, 0); } /** * @brief Get field lng from rally_point message * * @return [degE7] Longitude of point. */ static inline int32_t mavlink_msg_rally_point_get_lng(const mavlink_message_t* msg) { return _MAV_RETURN_int32_t(msg, 4); } /** * @brief Get field alt from rally_point message * * @return [m] Transit / loiter altitude relative to home. */ static inline int16_t mavlink_msg_rally_point_get_alt(const mavlink_message_t* msg) { return _MAV_RETURN_int16_t(msg, 8); } /** * @brief Get field break_alt from rally_point message * * @return [m] Break altitude relative to home. */ static inline int16_t mavlink_msg_rally_point_get_break_alt(const mavlink_message_t* msg) { return _MAV_RETURN_int16_t(msg, 10); } /** * @brief Get field land_dir from rally_point message * * @return [cdeg] Heading to aim for when landing. */ static inline uint16_t mavlink_msg_rally_point_get_land_dir(const mavlink_message_t* msg) { return _MAV_RETURN_uint16_t(msg, 12); } /** * @brief Get field flags from rally_point message * * @return Configuration flags. */ static inline uint8_t mavlink_msg_rally_point_get_flags(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 18); } /** * @brief Decode a rally_point message into a struct * * @param msg The message to decode * @param rally_point C-struct to decode the message contents into */ static inline void mavlink_msg_rally_point_decode(const mavlink_message_t* msg, mavlink_rally_point_t* rally_point) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS rally_point->lat = mavlink_msg_rally_point_get_lat(msg); rally_point->lng = mavlink_msg_rally_point_get_lng(msg); rally_point->alt = mavlink_msg_rally_point_get_alt(msg); rally_point->break_alt = mavlink_msg_rally_point_get_break_alt(msg); rally_point->land_dir = mavlink_msg_rally_point_get_land_dir(msg); rally_point->target_system = mavlink_msg_rally_point_get_target_system(msg); rally_point->target_component = mavlink_msg_rally_point_get_target_component(msg); rally_point->idx = mavlink_msg_rally_point_get_idx(msg); rally_point->count = mavlink_msg_rally_point_get_count(msg); rally_point->flags = mavlink_msg_rally_point_get_flags(msg); #else uint8_t len = msg->len < MAVLINK_MSG_ID_RALLY_POINT_LEN? msg->len : MAVLINK_MSG_ID_RALLY_POINT_LEN; memset(rally_point, 0, MAVLINK_MSG_ID_RALLY_POINT_LEN); memcpy(rally_point, _MAV_PAYLOAD(msg), len); #endif }