1dff1bfd33
【原 因】：更全更新 【过 程】： 【影 响】： # 类型 包含: # feat：新功能（feature） # fix：修补bug # docs：文档（documentation） # style： 格式（不影响代码运行的变动） # refactor：重构（即不是新增功能，也不是修改bug的代码变动） # test：增加测试 # chore：构建过程或辅助工具的变动
389 lines
15 KiB
C
389 lines
15 KiB
C
#pragma once
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// MESSAGE ASL_OBCTRL PACKING
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#define MAVLINK_MSG_ID_ASL_OBCTRL 207
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MAVPACKED(
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typedef struct __mavlink_asl_obctrl_t {
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uint64_t timestamp; /*< [us] Time since system start*/
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float uElev; /*< Elevator command [~]*/
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float uThrot; /*< Throttle command [~]*/
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float uThrot2; /*< Throttle 2 command [~]*/
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float uAilL; /*< Left aileron command [~]*/
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float uAilR; /*< Right aileron command [~]*/
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float uRud; /*< Rudder command [~]*/
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uint8_t obctrl_status; /*< Off-board computer status*/
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}) mavlink_asl_obctrl_t;
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#define MAVLINK_MSG_ID_ASL_OBCTRL_LEN 33
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#define MAVLINK_MSG_ID_ASL_OBCTRL_MIN_LEN 33
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#define MAVLINK_MSG_ID_207_LEN 33
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#define MAVLINK_MSG_ID_207_MIN_LEN 33
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#define MAVLINK_MSG_ID_ASL_OBCTRL_CRC 234
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#define MAVLINK_MSG_ID_207_CRC 234
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_ASL_OBCTRL { \
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207, \
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"ASL_OBCTRL", \
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8, \
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{ { "timestamp", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_asl_obctrl_t, timestamp) }, \
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{ "uElev", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_asl_obctrl_t, uElev) }, \
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{ "uThrot", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_asl_obctrl_t, uThrot) }, \
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{ "uThrot2", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_asl_obctrl_t, uThrot2) }, \
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{ "uAilL", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_asl_obctrl_t, uAilL) }, \
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{ "uAilR", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_asl_obctrl_t, uAilR) }, \
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{ "uRud", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_asl_obctrl_t, uRud) }, \
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{ "obctrl_status", NULL, MAVLINK_TYPE_UINT8_T, 0, 32, offsetof(mavlink_asl_obctrl_t, obctrl_status) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_ASL_OBCTRL { \
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"ASL_OBCTRL", \
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8, \
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{ { "timestamp", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_asl_obctrl_t, timestamp) }, \
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{ "uElev", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_asl_obctrl_t, uElev) }, \
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{ "uThrot", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_asl_obctrl_t, uThrot) }, \
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{ "uThrot2", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_asl_obctrl_t, uThrot2) }, \
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{ "uAilL", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_asl_obctrl_t, uAilL) }, \
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{ "uAilR", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_asl_obctrl_t, uAilR) }, \
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{ "uRud", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_asl_obctrl_t, uRud) }, \
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{ "obctrl_status", NULL, MAVLINK_TYPE_UINT8_T, 0, 32, offsetof(mavlink_asl_obctrl_t, obctrl_status) }, \
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} \
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}
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#endif
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/**
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* @brief Pack a asl_obctrl 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 timestamp [us] Time since system start
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* @param uElev Elevator command [~]
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* @param uThrot Throttle command [~]
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* @param uThrot2 Throttle 2 command [~]
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* @param uAilL Left aileron command [~]
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* @param uAilR Right aileron command [~]
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* @param uRud Rudder command [~]
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* @param obctrl_status Off-board computer status
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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_asl_obctrl_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint64_t timestamp, float uElev, float uThrot, float uThrot2, float uAilL, float uAilR, float uRud, uint8_t obctrl_status)
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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_ASL_OBCTRL_LEN];
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_mav_put_uint64_t(buf, 0, timestamp);
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_mav_put_float(buf, 8, uElev);
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_mav_put_float(buf, 12, uThrot);
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_mav_put_float(buf, 16, uThrot2);
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_mav_put_float(buf, 20, uAilL);
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_mav_put_float(buf, 24, uAilR);
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_mav_put_float(buf, 28, uRud);
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_mav_put_uint8_t(buf, 32, obctrl_status);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ASL_OBCTRL_LEN);
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#else
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mavlink_asl_obctrl_t packet;
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packet.timestamp = timestamp;
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packet.uElev = uElev;
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packet.uThrot = uThrot;
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packet.uThrot2 = uThrot2;
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packet.uAilL = uAilL;
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packet.uAilR = uAilR;
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packet.uRud = uRud;
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packet.obctrl_status = obctrl_status;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ASL_OBCTRL_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_ASL_OBCTRL;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ASL_OBCTRL_MIN_LEN, MAVLINK_MSG_ID_ASL_OBCTRL_LEN, MAVLINK_MSG_ID_ASL_OBCTRL_CRC);
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}
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/**
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* @brief Pack a asl_obctrl 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 timestamp [us] Time since system start
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* @param uElev Elevator command [~]
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* @param uThrot Throttle command [~]
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* @param uThrot2 Throttle 2 command [~]
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* @param uAilL Left aileron command [~]
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* @param uAilR Right aileron command [~]
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* @param uRud Rudder command [~]
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* @param obctrl_status Off-board computer status
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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_asl_obctrl_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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uint64_t timestamp,float uElev,float uThrot,float uThrot2,float uAilL,float uAilR,float uRud,uint8_t obctrl_status)
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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_ASL_OBCTRL_LEN];
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_mav_put_uint64_t(buf, 0, timestamp);
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_mav_put_float(buf, 8, uElev);
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_mav_put_float(buf, 12, uThrot);
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_mav_put_float(buf, 16, uThrot2);
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_mav_put_float(buf, 20, uAilL);
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_mav_put_float(buf, 24, uAilR);
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_mav_put_float(buf, 28, uRud);
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_mav_put_uint8_t(buf, 32, obctrl_status);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ASL_OBCTRL_LEN);
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#else
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mavlink_asl_obctrl_t packet;
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packet.timestamp = timestamp;
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packet.uElev = uElev;
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packet.uThrot = uThrot;
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packet.uThrot2 = uThrot2;
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packet.uAilL = uAilL;
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packet.uAilR = uAilR;
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packet.uRud = uRud;
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packet.obctrl_status = obctrl_status;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ASL_OBCTRL_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_ASL_OBCTRL;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ASL_OBCTRL_MIN_LEN, MAVLINK_MSG_ID_ASL_OBCTRL_LEN, MAVLINK_MSG_ID_ASL_OBCTRL_CRC);
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}
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/**
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* @brief Encode a asl_obctrl 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 asl_obctrl C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_asl_obctrl_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_asl_obctrl_t* asl_obctrl)
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{
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return mavlink_msg_asl_obctrl_pack(system_id, component_id, msg, asl_obctrl->timestamp, asl_obctrl->uElev, asl_obctrl->uThrot, asl_obctrl->uThrot2, asl_obctrl->uAilL, asl_obctrl->uAilR, asl_obctrl->uRud, asl_obctrl->obctrl_status);
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}
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/**
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* @brief Encode a asl_obctrl 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 asl_obctrl C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_asl_obctrl_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_asl_obctrl_t* asl_obctrl)
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{
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return mavlink_msg_asl_obctrl_pack_chan(system_id, component_id, chan, msg, asl_obctrl->timestamp, asl_obctrl->uElev, asl_obctrl->uThrot, asl_obctrl->uThrot2, asl_obctrl->uAilL, asl_obctrl->uAilR, asl_obctrl->uRud, asl_obctrl->obctrl_status);
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}
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/**
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* @brief Send a asl_obctrl message
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* @param chan MAVLink channel to send the message
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*
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* @param timestamp [us] Time since system start
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* @param uElev Elevator command [~]
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* @param uThrot Throttle command [~]
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* @param uThrot2 Throttle 2 command [~]
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* @param uAilL Left aileron command [~]
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* @param uAilR Right aileron command [~]
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* @param uRud Rudder command [~]
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* @param obctrl_status Off-board computer status
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_asl_obctrl_send(mavlink_channel_t chan, uint64_t timestamp, float uElev, float uThrot, float uThrot2, float uAilL, float uAilR, float uRud, uint8_t obctrl_status)
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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_ASL_OBCTRL_LEN];
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_mav_put_uint64_t(buf, 0, timestamp);
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_mav_put_float(buf, 8, uElev);
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_mav_put_float(buf, 12, uThrot);
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_mav_put_float(buf, 16, uThrot2);
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_mav_put_float(buf, 20, uAilL);
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_mav_put_float(buf, 24, uAilR);
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_mav_put_float(buf, 28, uRud);
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_mav_put_uint8_t(buf, 32, obctrl_status);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ASL_OBCTRL, buf, MAVLINK_MSG_ID_ASL_OBCTRL_MIN_LEN, MAVLINK_MSG_ID_ASL_OBCTRL_LEN, MAVLINK_MSG_ID_ASL_OBCTRL_CRC);
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#else
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mavlink_asl_obctrl_t packet;
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packet.timestamp = timestamp;
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packet.uElev = uElev;
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packet.uThrot = uThrot;
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packet.uThrot2 = uThrot2;
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packet.uAilL = uAilL;
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packet.uAilR = uAilR;
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packet.uRud = uRud;
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packet.obctrl_status = obctrl_status;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ASL_OBCTRL, (const char *)&packet, MAVLINK_MSG_ID_ASL_OBCTRL_MIN_LEN, MAVLINK_MSG_ID_ASL_OBCTRL_LEN, MAVLINK_MSG_ID_ASL_OBCTRL_CRC);
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#endif
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}
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/**
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* @brief Send a asl_obctrl 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_asl_obctrl_send_struct(mavlink_channel_t chan, const mavlink_asl_obctrl_t* asl_obctrl)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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mavlink_msg_asl_obctrl_send(chan, asl_obctrl->timestamp, asl_obctrl->uElev, asl_obctrl->uThrot, asl_obctrl->uThrot2, asl_obctrl->uAilL, asl_obctrl->uAilR, asl_obctrl->uRud, asl_obctrl->obctrl_status);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ASL_OBCTRL, (const char *)asl_obctrl, MAVLINK_MSG_ID_ASL_OBCTRL_MIN_LEN, MAVLINK_MSG_ID_ASL_OBCTRL_LEN, MAVLINK_MSG_ID_ASL_OBCTRL_CRC);
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#endif
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}
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#if MAVLINK_MSG_ID_ASL_OBCTRL_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_asl_obctrl_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t timestamp, float uElev, float uThrot, float uThrot2, float uAilL, float uAilR, float uRud, uint8_t obctrl_status)
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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_uint64_t(buf, 0, timestamp);
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_mav_put_float(buf, 8, uElev);
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_mav_put_float(buf, 12, uThrot);
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_mav_put_float(buf, 16, uThrot2);
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_mav_put_float(buf, 20, uAilL);
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_mav_put_float(buf, 24, uAilR);
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_mav_put_float(buf, 28, uRud);
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_mav_put_uint8_t(buf, 32, obctrl_status);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ASL_OBCTRL, buf, MAVLINK_MSG_ID_ASL_OBCTRL_MIN_LEN, MAVLINK_MSG_ID_ASL_OBCTRL_LEN, MAVLINK_MSG_ID_ASL_OBCTRL_CRC);
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#else
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mavlink_asl_obctrl_t *packet = (mavlink_asl_obctrl_t *)msgbuf;
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packet->timestamp = timestamp;
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packet->uElev = uElev;
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packet->uThrot = uThrot;
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packet->uThrot2 = uThrot2;
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packet->uAilL = uAilL;
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packet->uAilR = uAilR;
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packet->uRud = uRud;
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packet->obctrl_status = obctrl_status;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ASL_OBCTRL, (const char *)packet, MAVLINK_MSG_ID_ASL_OBCTRL_MIN_LEN, MAVLINK_MSG_ID_ASL_OBCTRL_LEN, MAVLINK_MSG_ID_ASL_OBCTRL_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 ASL_OBCTRL UNPACKING
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/**
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* @brief Get field timestamp from asl_obctrl message
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*
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* @return [us] Time since system start
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*/
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static inline uint64_t mavlink_msg_asl_obctrl_get_timestamp(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint64_t(msg, 0);
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}
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/**
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* @brief Get field uElev from asl_obctrl message
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*
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* @return Elevator command [~]
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*/
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static inline float mavlink_msg_asl_obctrl_get_uElev(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 uThrot from asl_obctrl message
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*
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* @return Throttle command [~]
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*/
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static inline float mavlink_msg_asl_obctrl_get_uThrot(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 Get field uThrot2 from asl_obctrl message
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*
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* @return Throttle 2 command [~]
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*/
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static inline float mavlink_msg_asl_obctrl_get_uThrot2(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 16);
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}
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/**
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* @brief Get field uAilL from asl_obctrl message
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*
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* @return Left aileron command [~]
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*/
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static inline float mavlink_msg_asl_obctrl_get_uAilL(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 20);
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}
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/**
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* @brief Get field uAilR from asl_obctrl message
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*
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* @return Right aileron command [~]
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*/
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static inline float mavlink_msg_asl_obctrl_get_uAilR(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 24);
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}
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/**
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* @brief Get field uRud from asl_obctrl message
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*
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* @return Rudder command [~]
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*/
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static inline float mavlink_msg_asl_obctrl_get_uRud(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 28);
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}
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/**
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* @brief Get field obctrl_status from asl_obctrl message
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*
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* @return Off-board computer status
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*/
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static inline uint8_t mavlink_msg_asl_obctrl_get_obctrl_status(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 32);
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}
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/**
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* @brief Decode a asl_obctrl message into a struct
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*
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* @param msg The message to decode
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* @param asl_obctrl C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_asl_obctrl_decode(const mavlink_message_t* msg, mavlink_asl_obctrl_t* asl_obctrl)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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asl_obctrl->timestamp = mavlink_msg_asl_obctrl_get_timestamp(msg);
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asl_obctrl->uElev = mavlink_msg_asl_obctrl_get_uElev(msg);
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asl_obctrl->uThrot = mavlink_msg_asl_obctrl_get_uThrot(msg);
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asl_obctrl->uThrot2 = mavlink_msg_asl_obctrl_get_uThrot2(msg);
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asl_obctrl->uAilL = mavlink_msg_asl_obctrl_get_uAilL(msg);
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asl_obctrl->uAilR = mavlink_msg_asl_obctrl_get_uAilR(msg);
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asl_obctrl->uRud = mavlink_msg_asl_obctrl_get_uRud(msg);
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asl_obctrl->obctrl_status = mavlink_msg_asl_obctrl_get_obctrl_status(msg);
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#else
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uint8_t len = msg->len < MAVLINK_MSG_ID_ASL_OBCTRL_LEN? msg->len : MAVLINK_MSG_ID_ASL_OBCTRL_LEN;
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memset(asl_obctrl, 0, MAVLINK_MSG_ID_ASL_OBCTRL_LEN);
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memcpy(asl_obctrl, _MAV_PAYLOAD(msg), len);
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#endif
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}
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