233 lines
7.5 KiB
C
233 lines
7.5 KiB
C
// MESSAGE POSITION_CONTROL_SETPOINT PACKING
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#define MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT 170
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typedef struct __mavlink_position_control_setpoint_t
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{
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float x; ///< x position
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float y; ///< y position
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float z; ///< z position
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float yaw; ///< yaw orientation in radians, 0 = NORTH
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uint16_t id; ///< ID of waypoint, 0 for plain position
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} mavlink_position_control_setpoint_t;
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#define MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT_LEN 18
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#define MAVLINK_MSG_ID_170_LEN 18
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#define MAVLINK_MESSAGE_INFO_POSITION_CONTROL_SETPOINT { \
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"POSITION_CONTROL_SETPOINT", \
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5, \
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{ { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_position_control_setpoint_t, x) }, \
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{ "y", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_position_control_setpoint_t, y) }, \
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{ "z", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_position_control_setpoint_t, z) }, \
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{ "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_position_control_setpoint_t, yaw) }, \
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{ "id", NULL, MAVLINK_TYPE_UINT16_T, 0, 16, offsetof(mavlink_position_control_setpoint_t, id) }, \
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} \
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}
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/**
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* @brief Pack a position_control_setpoint message
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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*
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* @param id ID of waypoint, 0 for plain position
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* @param x x position
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* @param y y position
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* @param z z position
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* @param yaw yaw orientation in radians, 0 = NORTH
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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_position_control_setpoint_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint16_t id, float x, float y, float z, float yaw)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[18];
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_mav_put_float(buf, 0, x);
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_mav_put_float(buf, 4, y);
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_mav_put_float(buf, 8, z);
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_mav_put_float(buf, 12, yaw);
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_mav_put_uint16_t(buf, 16, id);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 18);
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#else
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mavlink_position_control_setpoint_t packet;
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packet.x = x;
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packet.y = y;
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packet.z = z;
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packet.yaw = yaw;
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packet.id = id;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 18);
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#endif
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msg->msgid = MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT;
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return mavlink_finalize_message(msg, system_id, component_id, 18, 28);
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}
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/**
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* @brief Pack a position_control_setpoint message on a channel
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param chan The MAVLink channel this message was sent over
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* @param msg The MAVLink message to compress the data into
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* @param id ID of waypoint, 0 for plain position
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* @param x x position
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* @param y y position
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* @param z z position
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* @param yaw yaw orientation in radians, 0 = NORTH
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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_position_control_setpoint_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
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mavlink_message_t* msg,
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uint16_t id,float x,float y,float z,float yaw)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[18];
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_mav_put_float(buf, 0, x);
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_mav_put_float(buf, 4, y);
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_mav_put_float(buf, 8, z);
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_mav_put_float(buf, 12, yaw);
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_mav_put_uint16_t(buf, 16, id);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 18);
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#else
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mavlink_position_control_setpoint_t packet;
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packet.x = x;
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packet.y = y;
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packet.z = z;
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packet.yaw = yaw;
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packet.id = id;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 18);
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#endif
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msg->msgid = MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 18, 28);
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}
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/**
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* @brief Encode a position_control_setpoint struct into a message
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*
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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* @param position_control_setpoint C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_position_control_setpoint_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_position_control_setpoint_t* position_control_setpoint)
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{
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return mavlink_msg_position_control_setpoint_pack(system_id, component_id, msg, position_control_setpoint->id, position_control_setpoint->x, position_control_setpoint->y, position_control_setpoint->z, position_control_setpoint->yaw);
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}
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/**
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* @brief Send a position_control_setpoint message
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* @param chan MAVLink channel to send the message
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*
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* @param id ID of waypoint, 0 for plain position
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* @param x x position
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* @param y y position
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* @param z z position
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* @param yaw yaw orientation in radians, 0 = NORTH
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_position_control_setpoint_send(mavlink_channel_t chan, uint16_t id, float x, float y, float z, float yaw)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[18];
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_mav_put_float(buf, 0, x);
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_mav_put_float(buf, 4, y);
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_mav_put_float(buf, 8, z);
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_mav_put_float(buf, 12, yaw);
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_mav_put_uint16_t(buf, 16, id);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT, buf, 18, 28);
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#else
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mavlink_position_control_setpoint_t packet;
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packet.x = x;
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packet.y = y;
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packet.z = z;
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packet.yaw = yaw;
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packet.id = id;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT, (const char *)&packet, 18, 28);
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#endif
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}
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#endif
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// MESSAGE POSITION_CONTROL_SETPOINT UNPACKING
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/**
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* @brief Get field id from position_control_setpoint message
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*
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* @return ID of waypoint, 0 for plain position
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*/
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static inline uint16_t mavlink_msg_position_control_setpoint_get_id(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint16_t(msg, 16);
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}
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/**
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* @brief Get field x from position_control_setpoint message
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*
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* @return x position
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*/
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static inline float mavlink_msg_position_control_setpoint_get_x(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 0);
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}
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/**
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* @brief Get field y from position_control_setpoint message
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*
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* @return y position
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*/
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static inline float mavlink_msg_position_control_setpoint_get_y(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 4);
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}
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/**
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* @brief Get field z from position_control_setpoint message
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*
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* @return z position
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*/
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static inline float mavlink_msg_position_control_setpoint_get_z(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 8);
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}
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/**
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* @brief Get field yaw from position_control_setpoint message
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*
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* @return yaw orientation in radians, 0 = NORTH
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*/
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static inline float mavlink_msg_position_control_setpoint_get_yaw(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 12);
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}
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/**
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* @brief Decode a position_control_setpoint message into a struct
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*
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* @param msg The message to decode
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* @param position_control_setpoint C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_position_control_setpoint_decode(const mavlink_message_t* msg, mavlink_position_control_setpoint_t* position_control_setpoint)
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{
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#if MAVLINK_NEED_BYTE_SWAP
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position_control_setpoint->x = mavlink_msg_position_control_setpoint_get_x(msg);
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position_control_setpoint->y = mavlink_msg_position_control_setpoint_get_y(msg);
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position_control_setpoint->z = mavlink_msg_position_control_setpoint_get_z(msg);
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position_control_setpoint->yaw = mavlink_msg_position_control_setpoint_get_yaw(msg);
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position_control_setpoint->id = mavlink_msg_position_control_setpoint_get_id(msg);
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#else
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memcpy(position_control_setpoint, _MAV_PAYLOAD(msg), 18);
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#endif
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}
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