#pragma once // MESSAGE SLUGS_NAVIGATION PACKING #define MAVLINK_MSG_ID_SLUGS_NAVIGATION 176 MAVPACKED( typedef struct __mavlink_slugs_navigation_t { float u_m; /*< [m/s] Measured Airspeed prior to the nav filter*/ float phi_c; /*< Commanded Roll*/ float theta_c; /*< Commanded Pitch*/ float psiDot_c; /*< Commanded Turn rate*/ float ay_body; /*< Y component of the body acceleration*/ float totalDist; /*< Total Distance to Run on this leg of Navigation*/ float dist2Go; /*< Remaining distance to Run on this leg of Navigation*/ uint16_t h_c; /*< [dm] Commanded altitude (MSL)*/ uint8_t fromWP; /*< Origin WP*/ uint8_t toWP; /*< Destination WP*/ }) mavlink_slugs_navigation_t; #define MAVLINK_MSG_ID_SLUGS_NAVIGATION_LEN 32 #define MAVLINK_MSG_ID_SLUGS_NAVIGATION_MIN_LEN 32 #define MAVLINK_MSG_ID_176_LEN 32 #define MAVLINK_MSG_ID_176_MIN_LEN 32 #define MAVLINK_MSG_ID_SLUGS_NAVIGATION_CRC 228 #define MAVLINK_MSG_ID_176_CRC 228 #if MAVLINK_COMMAND_24BIT #define MAVLINK_MESSAGE_INFO_SLUGS_NAVIGATION { \ 176, \ "SLUGS_NAVIGATION", \ 10, \ { { "u_m", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_slugs_navigation_t, u_m) }, \ { "phi_c", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_slugs_navigation_t, phi_c) }, \ { "theta_c", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_slugs_navigation_t, theta_c) }, \ { "psiDot_c", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_slugs_navigation_t, psiDot_c) }, \ { "ay_body", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_slugs_navigation_t, ay_body) }, \ { "totalDist", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_slugs_navigation_t, totalDist) }, \ { "dist2Go", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_slugs_navigation_t, dist2Go) }, \ { "fromWP", NULL, MAVLINK_TYPE_UINT8_T, 0, 30, offsetof(mavlink_slugs_navigation_t, fromWP) }, \ { "toWP", NULL, MAVLINK_TYPE_UINT8_T, 0, 31, offsetof(mavlink_slugs_navigation_t, toWP) }, \ { "h_c", NULL, MAVLINK_TYPE_UINT16_T, 0, 28, offsetof(mavlink_slugs_navigation_t, h_c) }, \ } \ } #else #define MAVLINK_MESSAGE_INFO_SLUGS_NAVIGATION { \ "SLUGS_NAVIGATION", \ 10, \ { { "u_m", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_slugs_navigation_t, u_m) }, \ { "phi_c", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_slugs_navigation_t, phi_c) }, \ { "theta_c", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_slugs_navigation_t, theta_c) }, \ { "psiDot_c", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_slugs_navigation_t, psiDot_c) }, \ { "ay_body", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_slugs_navigation_t, ay_body) }, \ { "totalDist", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_slugs_navigation_t, totalDist) }, \ { "dist2Go", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_slugs_navigation_t, dist2Go) }, \ { "fromWP", NULL, MAVLINK_TYPE_UINT8_T, 0, 30, offsetof(mavlink_slugs_navigation_t, fromWP) }, \ { "toWP", NULL, MAVLINK_TYPE_UINT8_T, 0, 31, offsetof(mavlink_slugs_navigation_t, toWP) }, \ { "h_c", NULL, MAVLINK_TYPE_UINT16_T, 0, 28, offsetof(mavlink_slugs_navigation_t, h_c) }, \ } \ } #endif /** * @brief Pack a slugs_navigation 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 u_m [m/s] Measured Airspeed prior to the nav filter * @param phi_c Commanded Roll * @param theta_c Commanded Pitch * @param psiDot_c Commanded Turn rate * @param ay_body Y component of the body acceleration * @param totalDist Total Distance to Run on this leg of Navigation * @param dist2Go Remaining distance to Run on this leg of Navigation * @param fromWP Origin WP * @param toWP Destination WP * @param h_c [dm] Commanded altitude (MSL) * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_slugs_navigation_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, float u_m, float phi_c, float theta_c, float psiDot_c, float ay_body, float totalDist, float dist2Go, uint8_t fromWP, uint8_t toWP, uint16_t h_c) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_SLUGS_NAVIGATION_LEN]; _mav_put_float(buf, 0, u_m); _mav_put_float(buf, 4, phi_c); _mav_put_float(buf, 8, theta_c); _mav_put_float(buf, 12, psiDot_c); _mav_put_float(buf, 16, ay_body); _mav_put_float(buf, 20, totalDist); _mav_put_float(buf, 24, dist2Go); _mav_put_uint16_t(buf, 28, h_c); _mav_put_uint8_t(buf, 30, fromWP); _mav_put_uint8_t(buf, 31, toWP); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SLUGS_NAVIGATION_LEN); #else mavlink_slugs_navigation_t packet; packet.u_m = u_m; packet.phi_c = phi_c; packet.theta_c = theta_c; packet.psiDot_c = psiDot_c; packet.ay_body = ay_body; packet.totalDist = totalDist; packet.dist2Go = dist2Go; packet.h_c = h_c; packet.fromWP = fromWP; packet.toWP = toWP; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SLUGS_NAVIGATION_LEN); #endif msg->msgid = MAVLINK_MSG_ID_SLUGS_NAVIGATION; return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SLUGS_NAVIGATION_MIN_LEN, MAVLINK_MSG_ID_SLUGS_NAVIGATION_LEN, MAVLINK_MSG_ID_SLUGS_NAVIGATION_CRC); } /** * @brief Pack a slugs_navigation 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 u_m [m/s] Measured Airspeed prior to the nav filter * @param phi_c Commanded Roll * @param theta_c Commanded Pitch * @param psiDot_c Commanded Turn rate * @param ay_body Y component of the body acceleration * @param totalDist Total Distance to Run on this leg of Navigation * @param dist2Go Remaining distance to Run on this leg of Navigation * @param fromWP Origin WP * @param toWP Destination WP * @param h_c [dm] Commanded altitude (MSL) * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_slugs_navigation_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, float u_m,float phi_c,float theta_c,float psiDot_c,float ay_body,float totalDist,float dist2Go,uint8_t fromWP,uint8_t toWP,uint16_t h_c) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_SLUGS_NAVIGATION_LEN]; _mav_put_float(buf, 0, u_m); _mav_put_float(buf, 4, phi_c); _mav_put_float(buf, 8, theta_c); _mav_put_float(buf, 12, psiDot_c); _mav_put_float(buf, 16, ay_body); _mav_put_float(buf, 20, totalDist); _mav_put_float(buf, 24, dist2Go); _mav_put_uint16_t(buf, 28, h_c); _mav_put_uint8_t(buf, 30, fromWP); _mav_put_uint8_t(buf, 31, toWP); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SLUGS_NAVIGATION_LEN); #else mavlink_slugs_navigation_t packet; packet.u_m = u_m; packet.phi_c = phi_c; packet.theta_c = theta_c; packet.psiDot_c = psiDot_c; packet.ay_body = ay_body; packet.totalDist = totalDist; packet.dist2Go = dist2Go; packet.h_c = h_c; packet.fromWP = fromWP; packet.toWP = toWP; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SLUGS_NAVIGATION_LEN); #endif msg->msgid = MAVLINK_MSG_ID_SLUGS_NAVIGATION; return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SLUGS_NAVIGATION_MIN_LEN, MAVLINK_MSG_ID_SLUGS_NAVIGATION_LEN, MAVLINK_MSG_ID_SLUGS_NAVIGATION_CRC); } /** * @brief Encode a slugs_navigation 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 slugs_navigation C-struct to read the message contents from */ static inline uint16_t mavlink_msg_slugs_navigation_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_slugs_navigation_t* slugs_navigation) { return mavlink_msg_slugs_navigation_pack(system_id, component_id, msg, slugs_navigation->u_m, slugs_navigation->phi_c, slugs_navigation->theta_c, slugs_navigation->psiDot_c, slugs_navigation->ay_body, slugs_navigation->totalDist, slugs_navigation->dist2Go, slugs_navigation->fromWP, slugs_navigation->toWP, slugs_navigation->h_c); } /** * @brief Encode a slugs_navigation 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 slugs_navigation C-struct to read the message contents from */ static inline uint16_t mavlink_msg_slugs_navigation_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_slugs_navigation_t* slugs_navigation) { return mavlink_msg_slugs_navigation_pack_chan(system_id, component_id, chan, msg, slugs_navigation->u_m, slugs_navigation->phi_c, slugs_navigation->theta_c, slugs_navigation->psiDot_c, slugs_navigation->ay_body, slugs_navigation->totalDist, slugs_navigation->dist2Go, slugs_navigation->fromWP, slugs_navigation->toWP, slugs_navigation->h_c); } /** * @brief Send a slugs_navigation message * @param chan MAVLink channel to send the message * * @param u_m [m/s] Measured Airspeed prior to the nav filter * @param phi_c Commanded Roll * @param theta_c Commanded Pitch * @param psiDot_c Commanded Turn rate * @param ay_body Y component of the body acceleration * @param totalDist Total Distance to Run on this leg of Navigation * @param dist2Go Remaining distance to Run on this leg of Navigation * @param fromWP Origin WP * @param toWP Destination WP * @param h_c [dm] Commanded altitude (MSL) */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS static inline void mavlink_msg_slugs_navigation_send(mavlink_channel_t chan, float u_m, float phi_c, float theta_c, float psiDot_c, float ay_body, float totalDist, float dist2Go, uint8_t fromWP, uint8_t toWP, uint16_t h_c) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_SLUGS_NAVIGATION_LEN]; _mav_put_float(buf, 0, u_m); _mav_put_float(buf, 4, phi_c); _mav_put_float(buf, 8, theta_c); _mav_put_float(buf, 12, psiDot_c); _mav_put_float(buf, 16, ay_body); _mav_put_float(buf, 20, totalDist); _mav_put_float(buf, 24, dist2Go); _mav_put_uint16_t(buf, 28, h_c); _mav_put_uint8_t(buf, 30, fromWP); _mav_put_uint8_t(buf, 31, toWP); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SLUGS_NAVIGATION, buf, MAVLINK_MSG_ID_SLUGS_NAVIGATION_MIN_LEN, MAVLINK_MSG_ID_SLUGS_NAVIGATION_LEN, MAVLINK_MSG_ID_SLUGS_NAVIGATION_CRC); #else mavlink_slugs_navigation_t packet; packet.u_m = u_m; packet.phi_c = phi_c; packet.theta_c = theta_c; packet.psiDot_c = psiDot_c; packet.ay_body = ay_body; packet.totalDist = totalDist; packet.dist2Go = dist2Go; packet.h_c = h_c; packet.fromWP = fromWP; packet.toWP = toWP; _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SLUGS_NAVIGATION, (const char *)&packet, MAVLINK_MSG_ID_SLUGS_NAVIGATION_MIN_LEN, MAVLINK_MSG_ID_SLUGS_NAVIGATION_LEN, MAVLINK_MSG_ID_SLUGS_NAVIGATION_CRC); #endif } /** * @brief Send a slugs_navigation message * @param chan MAVLink channel to send the message * @param struct The MAVLink struct to serialize */ static inline void mavlink_msg_slugs_navigation_send_struct(mavlink_channel_t chan, const mavlink_slugs_navigation_t* slugs_navigation) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS mavlink_msg_slugs_navigation_send(chan, slugs_navigation->u_m, slugs_navigation->phi_c, slugs_navigation->theta_c, slugs_navigation->psiDot_c, slugs_navigation->ay_body, slugs_navigation->totalDist, slugs_navigation->dist2Go, slugs_navigation->fromWP, slugs_navigation->toWP, slugs_navigation->h_c); #else _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SLUGS_NAVIGATION, (const char *)slugs_navigation, MAVLINK_MSG_ID_SLUGS_NAVIGATION_MIN_LEN, MAVLINK_MSG_ID_SLUGS_NAVIGATION_LEN, MAVLINK_MSG_ID_SLUGS_NAVIGATION_CRC); #endif } #if MAVLINK_MSG_ID_SLUGS_NAVIGATION_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_slugs_navigation_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, float u_m, float phi_c, float theta_c, float psiDot_c, float ay_body, float totalDist, float dist2Go, uint8_t fromWP, uint8_t toWP, uint16_t h_c) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char *buf = (char *)msgbuf; _mav_put_float(buf, 0, u_m); _mav_put_float(buf, 4, phi_c); _mav_put_float(buf, 8, theta_c); _mav_put_float(buf, 12, psiDot_c); _mav_put_float(buf, 16, ay_body); _mav_put_float(buf, 20, totalDist); _mav_put_float(buf, 24, dist2Go); _mav_put_uint16_t(buf, 28, h_c); _mav_put_uint8_t(buf, 30, fromWP); _mav_put_uint8_t(buf, 31, toWP); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SLUGS_NAVIGATION, buf, MAVLINK_MSG_ID_SLUGS_NAVIGATION_MIN_LEN, MAVLINK_MSG_ID_SLUGS_NAVIGATION_LEN, MAVLINK_MSG_ID_SLUGS_NAVIGATION_CRC); #else mavlink_slugs_navigation_t *packet = (mavlink_slugs_navigation_t *)msgbuf; packet->u_m = u_m; packet->phi_c = phi_c; packet->theta_c = theta_c; packet->psiDot_c = psiDot_c; packet->ay_body = ay_body; packet->totalDist = totalDist; packet->dist2Go = dist2Go; packet->h_c = h_c; packet->fromWP = fromWP; packet->toWP = toWP; _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SLUGS_NAVIGATION, (const char *)packet, MAVLINK_MSG_ID_SLUGS_NAVIGATION_MIN_LEN, MAVLINK_MSG_ID_SLUGS_NAVIGATION_LEN, MAVLINK_MSG_ID_SLUGS_NAVIGATION_CRC); #endif } #endif #endif // MESSAGE SLUGS_NAVIGATION UNPACKING /** * @brief Get field u_m from slugs_navigation message * * @return [m/s] Measured Airspeed prior to the nav filter */ static inline float mavlink_msg_slugs_navigation_get_u_m(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 0); } /** * @brief Get field phi_c from slugs_navigation message * * @return Commanded Roll */ static inline float mavlink_msg_slugs_navigation_get_phi_c(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 4); } /** * @brief Get field theta_c from slugs_navigation message * * @return Commanded Pitch */ static inline float mavlink_msg_slugs_navigation_get_theta_c(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 8); } /** * @brief Get field psiDot_c from slugs_navigation message * * @return Commanded Turn rate */ static inline float mavlink_msg_slugs_navigation_get_psiDot_c(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 12); } /** * @brief Get field ay_body from slugs_navigation message * * @return Y component of the body acceleration */ static inline float mavlink_msg_slugs_navigation_get_ay_body(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 16); } /** * @brief Get field totalDist from slugs_navigation message * * @return Total Distance to Run on this leg of Navigation */ static inline float mavlink_msg_slugs_navigation_get_totalDist(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 20); } /** * @brief Get field dist2Go from slugs_navigation message * * @return Remaining distance to Run on this leg of Navigation */ static inline float mavlink_msg_slugs_navigation_get_dist2Go(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 24); } /** * @brief Get field fromWP from slugs_navigation message * * @return Origin WP */ static inline uint8_t mavlink_msg_slugs_navigation_get_fromWP(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 30); } /** * @brief Get field toWP from slugs_navigation message * * @return Destination WP */ static inline uint8_t mavlink_msg_slugs_navigation_get_toWP(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 31); } /** * @brief Get field h_c from slugs_navigation message * * @return [dm] Commanded altitude (MSL) */ static inline uint16_t mavlink_msg_slugs_navigation_get_h_c(const mavlink_message_t* msg) { return _MAV_RETURN_uint16_t(msg, 28); } /** * @brief Decode a slugs_navigation message into a struct * * @param msg The message to decode * @param slugs_navigation C-struct to decode the message contents into */ static inline void mavlink_msg_slugs_navigation_decode(const mavlink_message_t* msg, mavlink_slugs_navigation_t* slugs_navigation) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS slugs_navigation->u_m = mavlink_msg_slugs_navigation_get_u_m(msg); slugs_navigation->phi_c = mavlink_msg_slugs_navigation_get_phi_c(msg); slugs_navigation->theta_c = mavlink_msg_slugs_navigation_get_theta_c(msg); slugs_navigation->psiDot_c = mavlink_msg_slugs_navigation_get_psiDot_c(msg); slugs_navigation->ay_body = mavlink_msg_slugs_navigation_get_ay_body(msg); slugs_navigation->totalDist = mavlink_msg_slugs_navigation_get_totalDist(msg); slugs_navigation->dist2Go = mavlink_msg_slugs_navigation_get_dist2Go(msg); slugs_navigation->h_c = mavlink_msg_slugs_navigation_get_h_c(msg); slugs_navigation->fromWP = mavlink_msg_slugs_navigation_get_fromWP(msg); slugs_navigation->toWP = mavlink_msg_slugs_navigation_get_toWP(msg); #else uint8_t len = msg->len < MAVLINK_MSG_ID_SLUGS_NAVIGATION_LEN? msg->len : MAVLINK_MSG_ID_SLUGS_NAVIGATION_LEN; memset(slugs_navigation, 0, MAVLINK_MSG_ID_SLUGS_NAVIGATION_LEN); memcpy(slugs_navigation, _MAV_PAYLOAD(msg), len); #endif }