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
814 lines
32 KiB
C
814 lines
32 KiB
C
#pragma once
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// MESSAGE ASLCTRL_DATA PACKING
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#define MAVLINK_MSG_ID_ASLCTRL_DATA 203
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MAVPACKED(
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typedef struct __mavlink_aslctrl_data_t {
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uint64_t timestamp; /*< [us] Timestamp*/
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float h; /*< See sourcecode for a description of these values... */
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float hRef; /*< */
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float hRef_t; /*< */
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float PitchAngle; /*< [deg] Pitch angle*/
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float PitchAngleRef; /*< [deg] Pitch angle reference*/
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float q; /*< */
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float qRef; /*< */
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float uElev; /*< */
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float uThrot; /*< */
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float uThrot2; /*< */
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float nZ; /*< */
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float AirspeedRef; /*< [m/s] Airspeed reference*/
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float YawAngle; /*< [deg] Yaw angle*/
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float YawAngleRef; /*< [deg] Yaw angle reference*/
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float RollAngle; /*< [deg] Roll angle*/
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float RollAngleRef; /*< [deg] Roll angle reference*/
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float p; /*< */
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float pRef; /*< */
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float r; /*< */
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float rRef; /*< */
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float uAil; /*< */
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float uRud; /*< */
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uint8_t aslctrl_mode; /*< ASLCTRL control-mode (manual, stabilized, auto, etc...)*/
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uint8_t SpoilersEngaged; /*< */
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}) mavlink_aslctrl_data_t;
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#define MAVLINK_MSG_ID_ASLCTRL_DATA_LEN 98
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#define MAVLINK_MSG_ID_ASLCTRL_DATA_MIN_LEN 98
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#define MAVLINK_MSG_ID_203_LEN 98
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#define MAVLINK_MSG_ID_203_MIN_LEN 98
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#define MAVLINK_MSG_ID_ASLCTRL_DATA_CRC 172
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#define MAVLINK_MSG_ID_203_CRC 172
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_ASLCTRL_DATA { \
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203, \
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"ASLCTRL_DATA", \
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25, \
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{ { "timestamp", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_aslctrl_data_t, timestamp) }, \
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{ "aslctrl_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 96, offsetof(mavlink_aslctrl_data_t, aslctrl_mode) }, \
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{ "h", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_aslctrl_data_t, h) }, \
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{ "hRef", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_aslctrl_data_t, hRef) }, \
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{ "hRef_t", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_aslctrl_data_t, hRef_t) }, \
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{ "PitchAngle", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_aslctrl_data_t, PitchAngle) }, \
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{ "PitchAngleRef", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_aslctrl_data_t, PitchAngleRef) }, \
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{ "q", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_aslctrl_data_t, q) }, \
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{ "qRef", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_aslctrl_data_t, qRef) }, \
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{ "uElev", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_aslctrl_data_t, uElev) }, \
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{ "uThrot", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_aslctrl_data_t, uThrot) }, \
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{ "uThrot2", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_aslctrl_data_t, uThrot2) }, \
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{ "nZ", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_aslctrl_data_t, nZ) }, \
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{ "AirspeedRef", NULL, MAVLINK_TYPE_FLOAT, 0, 52, offsetof(mavlink_aslctrl_data_t, AirspeedRef) }, \
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{ "SpoilersEngaged", NULL, MAVLINK_TYPE_UINT8_T, 0, 97, offsetof(mavlink_aslctrl_data_t, SpoilersEngaged) }, \
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{ "YawAngle", NULL, MAVLINK_TYPE_FLOAT, 0, 56, offsetof(mavlink_aslctrl_data_t, YawAngle) }, \
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{ "YawAngleRef", NULL, MAVLINK_TYPE_FLOAT, 0, 60, offsetof(mavlink_aslctrl_data_t, YawAngleRef) }, \
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{ "RollAngle", NULL, MAVLINK_TYPE_FLOAT, 0, 64, offsetof(mavlink_aslctrl_data_t, RollAngle) }, \
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{ "RollAngleRef", NULL, MAVLINK_TYPE_FLOAT, 0, 68, offsetof(mavlink_aslctrl_data_t, RollAngleRef) }, \
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{ "p", NULL, MAVLINK_TYPE_FLOAT, 0, 72, offsetof(mavlink_aslctrl_data_t, p) }, \
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{ "pRef", NULL, MAVLINK_TYPE_FLOAT, 0, 76, offsetof(mavlink_aslctrl_data_t, pRef) }, \
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{ "r", NULL, MAVLINK_TYPE_FLOAT, 0, 80, offsetof(mavlink_aslctrl_data_t, r) }, \
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{ "rRef", NULL, MAVLINK_TYPE_FLOAT, 0, 84, offsetof(mavlink_aslctrl_data_t, rRef) }, \
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{ "uAil", NULL, MAVLINK_TYPE_FLOAT, 0, 88, offsetof(mavlink_aslctrl_data_t, uAil) }, \
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{ "uRud", NULL, MAVLINK_TYPE_FLOAT, 0, 92, offsetof(mavlink_aslctrl_data_t, uRud) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_ASLCTRL_DATA { \
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"ASLCTRL_DATA", \
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25, \
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{ { "timestamp", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_aslctrl_data_t, timestamp) }, \
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{ "aslctrl_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 96, offsetof(mavlink_aslctrl_data_t, aslctrl_mode) }, \
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{ "h", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_aslctrl_data_t, h) }, \
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{ "hRef", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_aslctrl_data_t, hRef) }, \
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{ "hRef_t", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_aslctrl_data_t, hRef_t) }, \
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{ "PitchAngle", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_aslctrl_data_t, PitchAngle) }, \
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{ "PitchAngleRef", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_aslctrl_data_t, PitchAngleRef) }, \
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{ "q", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_aslctrl_data_t, q) }, \
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{ "qRef", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_aslctrl_data_t, qRef) }, \
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{ "uElev", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_aslctrl_data_t, uElev) }, \
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{ "uThrot", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_aslctrl_data_t, uThrot) }, \
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{ "uThrot2", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_aslctrl_data_t, uThrot2) }, \
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{ "nZ", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_aslctrl_data_t, nZ) }, \
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{ "AirspeedRef", NULL, MAVLINK_TYPE_FLOAT, 0, 52, offsetof(mavlink_aslctrl_data_t, AirspeedRef) }, \
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{ "SpoilersEngaged", NULL, MAVLINK_TYPE_UINT8_T, 0, 97, offsetof(mavlink_aslctrl_data_t, SpoilersEngaged) }, \
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{ "YawAngle", NULL, MAVLINK_TYPE_FLOAT, 0, 56, offsetof(mavlink_aslctrl_data_t, YawAngle) }, \
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{ "YawAngleRef", NULL, MAVLINK_TYPE_FLOAT, 0, 60, offsetof(mavlink_aslctrl_data_t, YawAngleRef) }, \
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{ "RollAngle", NULL, MAVLINK_TYPE_FLOAT, 0, 64, offsetof(mavlink_aslctrl_data_t, RollAngle) }, \
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{ "RollAngleRef", NULL, MAVLINK_TYPE_FLOAT, 0, 68, offsetof(mavlink_aslctrl_data_t, RollAngleRef) }, \
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{ "p", NULL, MAVLINK_TYPE_FLOAT, 0, 72, offsetof(mavlink_aslctrl_data_t, p) }, \
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{ "pRef", NULL, MAVLINK_TYPE_FLOAT, 0, 76, offsetof(mavlink_aslctrl_data_t, pRef) }, \
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{ "r", NULL, MAVLINK_TYPE_FLOAT, 0, 80, offsetof(mavlink_aslctrl_data_t, r) }, \
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{ "rRef", NULL, MAVLINK_TYPE_FLOAT, 0, 84, offsetof(mavlink_aslctrl_data_t, rRef) }, \
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{ "uAil", NULL, MAVLINK_TYPE_FLOAT, 0, 88, offsetof(mavlink_aslctrl_data_t, uAil) }, \
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{ "uRud", NULL, MAVLINK_TYPE_FLOAT, 0, 92, offsetof(mavlink_aslctrl_data_t, uRud) }, \
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} \
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}
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#endif
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/**
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* @brief Pack a aslctrl_data 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] Timestamp
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* @param aslctrl_mode ASLCTRL control-mode (manual, stabilized, auto, etc...)
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* @param h See sourcecode for a description of these values...
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* @param hRef
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* @param hRef_t
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* @param PitchAngle [deg] Pitch angle
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* @param PitchAngleRef [deg] Pitch angle reference
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* @param q
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* @param qRef
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* @param uElev
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* @param uThrot
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* @param uThrot2
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* @param nZ
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* @param AirspeedRef [m/s] Airspeed reference
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* @param SpoilersEngaged
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* @param YawAngle [deg] Yaw angle
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* @param YawAngleRef [deg] Yaw angle reference
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* @param RollAngle [deg] Roll angle
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* @param RollAngleRef [deg] Roll angle reference
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* @param p
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* @param pRef
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* @param r
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* @param rRef
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* @param uAil
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* @param uRud
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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_aslctrl_data_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint64_t timestamp, uint8_t aslctrl_mode, float h, float hRef, float hRef_t, float PitchAngle, float PitchAngleRef, float q, float qRef, float uElev, float uThrot, float uThrot2, float nZ, float AirspeedRef, uint8_t SpoilersEngaged, float YawAngle, float YawAngleRef, float RollAngle, float RollAngleRef, float p, float pRef, float r, float rRef, float uAil, float uRud)
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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_ASLCTRL_DATA_LEN];
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_mav_put_uint64_t(buf, 0, timestamp);
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_mav_put_float(buf, 8, h);
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_mav_put_float(buf, 12, hRef);
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_mav_put_float(buf, 16, hRef_t);
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_mav_put_float(buf, 20, PitchAngle);
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_mav_put_float(buf, 24, PitchAngleRef);
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_mav_put_float(buf, 28, q);
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_mav_put_float(buf, 32, qRef);
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_mav_put_float(buf, 36, uElev);
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_mav_put_float(buf, 40, uThrot);
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_mav_put_float(buf, 44, uThrot2);
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_mav_put_float(buf, 48, nZ);
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_mav_put_float(buf, 52, AirspeedRef);
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_mav_put_float(buf, 56, YawAngle);
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_mav_put_float(buf, 60, YawAngleRef);
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_mav_put_float(buf, 64, RollAngle);
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_mav_put_float(buf, 68, RollAngleRef);
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_mav_put_float(buf, 72, p);
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_mav_put_float(buf, 76, pRef);
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_mav_put_float(buf, 80, r);
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_mav_put_float(buf, 84, rRef);
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_mav_put_float(buf, 88, uAil);
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_mav_put_float(buf, 92, uRud);
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_mav_put_uint8_t(buf, 96, aslctrl_mode);
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_mav_put_uint8_t(buf, 97, SpoilersEngaged);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ASLCTRL_DATA_LEN);
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#else
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mavlink_aslctrl_data_t packet;
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packet.timestamp = timestamp;
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packet.h = h;
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packet.hRef = hRef;
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packet.hRef_t = hRef_t;
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packet.PitchAngle = PitchAngle;
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packet.PitchAngleRef = PitchAngleRef;
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packet.q = q;
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packet.qRef = qRef;
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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.nZ = nZ;
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packet.AirspeedRef = AirspeedRef;
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packet.YawAngle = YawAngle;
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packet.YawAngleRef = YawAngleRef;
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packet.RollAngle = RollAngle;
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packet.RollAngleRef = RollAngleRef;
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packet.p = p;
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packet.pRef = pRef;
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packet.r = r;
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packet.rRef = rRef;
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packet.uAil = uAil;
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packet.uRud = uRud;
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packet.aslctrl_mode = aslctrl_mode;
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packet.SpoilersEngaged = SpoilersEngaged;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ASLCTRL_DATA_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_ASLCTRL_DATA;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ASLCTRL_DATA_MIN_LEN, MAVLINK_MSG_ID_ASLCTRL_DATA_LEN, MAVLINK_MSG_ID_ASLCTRL_DATA_CRC);
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}
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/**
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* @brief Pack a aslctrl_data 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] Timestamp
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* @param aslctrl_mode ASLCTRL control-mode (manual, stabilized, auto, etc...)
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* @param h See sourcecode for a description of these values...
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* @param hRef
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* @param hRef_t
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* @param PitchAngle [deg] Pitch angle
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* @param PitchAngleRef [deg] Pitch angle reference
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* @param q
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* @param qRef
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* @param uElev
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* @param uThrot
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* @param uThrot2
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* @param nZ
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* @param AirspeedRef [m/s] Airspeed reference
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* @param SpoilersEngaged
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* @param YawAngle [deg] Yaw angle
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* @param YawAngleRef [deg] Yaw angle reference
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* @param RollAngle [deg] Roll angle
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* @param RollAngleRef [deg] Roll angle reference
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* @param p
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* @param pRef
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* @param r
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* @param rRef
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* @param uAil
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* @param uRud
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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_aslctrl_data_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,uint8_t aslctrl_mode,float h,float hRef,float hRef_t,float PitchAngle,float PitchAngleRef,float q,float qRef,float uElev,float uThrot,float uThrot2,float nZ,float AirspeedRef,uint8_t SpoilersEngaged,float YawAngle,float YawAngleRef,float RollAngle,float RollAngleRef,float p,float pRef,float r,float rRef,float uAil,float uRud)
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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_ASLCTRL_DATA_LEN];
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_mav_put_uint64_t(buf, 0, timestamp);
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_mav_put_float(buf, 8, h);
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_mav_put_float(buf, 12, hRef);
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_mav_put_float(buf, 16, hRef_t);
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_mav_put_float(buf, 20, PitchAngle);
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_mav_put_float(buf, 24, PitchAngleRef);
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_mav_put_float(buf, 28, q);
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_mav_put_float(buf, 32, qRef);
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_mav_put_float(buf, 36, uElev);
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_mav_put_float(buf, 40, uThrot);
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_mav_put_float(buf, 44, uThrot2);
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_mav_put_float(buf, 48, nZ);
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_mav_put_float(buf, 52, AirspeedRef);
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_mav_put_float(buf, 56, YawAngle);
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_mav_put_float(buf, 60, YawAngleRef);
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_mav_put_float(buf, 64, RollAngle);
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_mav_put_float(buf, 68, RollAngleRef);
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_mav_put_float(buf, 72, p);
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_mav_put_float(buf, 76, pRef);
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_mav_put_float(buf, 80, r);
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_mav_put_float(buf, 84, rRef);
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_mav_put_float(buf, 88, uAil);
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_mav_put_float(buf, 92, uRud);
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_mav_put_uint8_t(buf, 96, aslctrl_mode);
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_mav_put_uint8_t(buf, 97, SpoilersEngaged);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ASLCTRL_DATA_LEN);
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#else
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mavlink_aslctrl_data_t packet;
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packet.timestamp = timestamp;
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packet.h = h;
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packet.hRef = hRef;
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packet.hRef_t = hRef_t;
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packet.PitchAngle = PitchAngle;
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packet.PitchAngleRef = PitchAngleRef;
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packet.q = q;
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packet.qRef = qRef;
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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.nZ = nZ;
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packet.AirspeedRef = AirspeedRef;
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packet.YawAngle = YawAngle;
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packet.YawAngleRef = YawAngleRef;
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packet.RollAngle = RollAngle;
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packet.RollAngleRef = RollAngleRef;
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packet.p = p;
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packet.pRef = pRef;
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packet.r = r;
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packet.rRef = rRef;
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packet.uAil = uAil;
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packet.uRud = uRud;
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packet.aslctrl_mode = aslctrl_mode;
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packet.SpoilersEngaged = SpoilersEngaged;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ASLCTRL_DATA_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_ASLCTRL_DATA;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ASLCTRL_DATA_MIN_LEN, MAVLINK_MSG_ID_ASLCTRL_DATA_LEN, MAVLINK_MSG_ID_ASLCTRL_DATA_CRC);
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}
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/**
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* @brief Encode a aslctrl_data 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 aslctrl_data C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_aslctrl_data_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_aslctrl_data_t* aslctrl_data)
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{
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return mavlink_msg_aslctrl_data_pack(system_id, component_id, msg, aslctrl_data->timestamp, aslctrl_data->aslctrl_mode, aslctrl_data->h, aslctrl_data->hRef, aslctrl_data->hRef_t, aslctrl_data->PitchAngle, aslctrl_data->PitchAngleRef, aslctrl_data->q, aslctrl_data->qRef, aslctrl_data->uElev, aslctrl_data->uThrot, aslctrl_data->uThrot2, aslctrl_data->nZ, aslctrl_data->AirspeedRef, aslctrl_data->SpoilersEngaged, aslctrl_data->YawAngle, aslctrl_data->YawAngleRef, aslctrl_data->RollAngle, aslctrl_data->RollAngleRef, aslctrl_data->p, aslctrl_data->pRef, aslctrl_data->r, aslctrl_data->rRef, aslctrl_data->uAil, aslctrl_data->uRud);
|
|
}
|
|
|
|
/**
|
|
* @brief Encode a aslctrl_data 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 aslctrl_data C-struct to read the message contents from
|
|
*/
|
|
static inline uint16_t mavlink_msg_aslctrl_data_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_aslctrl_data_t* aslctrl_data)
|
|
{
|
|
return mavlink_msg_aslctrl_data_pack_chan(system_id, component_id, chan, msg, aslctrl_data->timestamp, aslctrl_data->aslctrl_mode, aslctrl_data->h, aslctrl_data->hRef, aslctrl_data->hRef_t, aslctrl_data->PitchAngle, aslctrl_data->PitchAngleRef, aslctrl_data->q, aslctrl_data->qRef, aslctrl_data->uElev, aslctrl_data->uThrot, aslctrl_data->uThrot2, aslctrl_data->nZ, aslctrl_data->AirspeedRef, aslctrl_data->SpoilersEngaged, aslctrl_data->YawAngle, aslctrl_data->YawAngleRef, aslctrl_data->RollAngle, aslctrl_data->RollAngleRef, aslctrl_data->p, aslctrl_data->pRef, aslctrl_data->r, aslctrl_data->rRef, aslctrl_data->uAil, aslctrl_data->uRud);
|
|
}
|
|
|
|
/**
|
|
* @brief Send a aslctrl_data message
|
|
* @param chan MAVLink channel to send the message
|
|
*
|
|
* @param timestamp [us] Timestamp
|
|
* @param aslctrl_mode ASLCTRL control-mode (manual, stabilized, auto, etc...)
|
|
* @param h See sourcecode for a description of these values...
|
|
* @param hRef
|
|
* @param hRef_t
|
|
* @param PitchAngle [deg] Pitch angle
|
|
* @param PitchAngleRef [deg] Pitch angle reference
|
|
* @param q
|
|
* @param qRef
|
|
* @param uElev
|
|
* @param uThrot
|
|
* @param uThrot2
|
|
* @param nZ
|
|
* @param AirspeedRef [m/s] Airspeed reference
|
|
* @param SpoilersEngaged
|
|
* @param YawAngle [deg] Yaw angle
|
|
* @param YawAngleRef [deg] Yaw angle reference
|
|
* @param RollAngle [deg] Roll angle
|
|
* @param RollAngleRef [deg] Roll angle reference
|
|
* @param p
|
|
* @param pRef
|
|
* @param r
|
|
* @param rRef
|
|
* @param uAil
|
|
* @param uRud
|
|
*/
|
|
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
|
|
|
static inline void mavlink_msg_aslctrl_data_send(mavlink_channel_t chan, uint64_t timestamp, uint8_t aslctrl_mode, float h, float hRef, float hRef_t, float PitchAngle, float PitchAngleRef, float q, float qRef, float uElev, float uThrot, float uThrot2, float nZ, float AirspeedRef, uint8_t SpoilersEngaged, float YawAngle, float YawAngleRef, float RollAngle, float RollAngleRef, float p, float pRef, float r, float rRef, float uAil, float uRud)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
char buf[MAVLINK_MSG_ID_ASLCTRL_DATA_LEN];
|
|
_mav_put_uint64_t(buf, 0, timestamp);
|
|
_mav_put_float(buf, 8, h);
|
|
_mav_put_float(buf, 12, hRef);
|
|
_mav_put_float(buf, 16, hRef_t);
|
|
_mav_put_float(buf, 20, PitchAngle);
|
|
_mav_put_float(buf, 24, PitchAngleRef);
|
|
_mav_put_float(buf, 28, q);
|
|
_mav_put_float(buf, 32, qRef);
|
|
_mav_put_float(buf, 36, uElev);
|
|
_mav_put_float(buf, 40, uThrot);
|
|
_mav_put_float(buf, 44, uThrot2);
|
|
_mav_put_float(buf, 48, nZ);
|
|
_mav_put_float(buf, 52, AirspeedRef);
|
|
_mav_put_float(buf, 56, YawAngle);
|
|
_mav_put_float(buf, 60, YawAngleRef);
|
|
_mav_put_float(buf, 64, RollAngle);
|
|
_mav_put_float(buf, 68, RollAngleRef);
|
|
_mav_put_float(buf, 72, p);
|
|
_mav_put_float(buf, 76, pRef);
|
|
_mav_put_float(buf, 80, r);
|
|
_mav_put_float(buf, 84, rRef);
|
|
_mav_put_float(buf, 88, uAil);
|
|
_mav_put_float(buf, 92, uRud);
|
|
_mav_put_uint8_t(buf, 96, aslctrl_mode);
|
|
_mav_put_uint8_t(buf, 97, SpoilersEngaged);
|
|
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ASLCTRL_DATA, buf, MAVLINK_MSG_ID_ASLCTRL_DATA_MIN_LEN, MAVLINK_MSG_ID_ASLCTRL_DATA_LEN, MAVLINK_MSG_ID_ASLCTRL_DATA_CRC);
|
|
#else
|
|
mavlink_aslctrl_data_t packet;
|
|
packet.timestamp = timestamp;
|
|
packet.h = h;
|
|
packet.hRef = hRef;
|
|
packet.hRef_t = hRef_t;
|
|
packet.PitchAngle = PitchAngle;
|
|
packet.PitchAngleRef = PitchAngleRef;
|
|
packet.q = q;
|
|
packet.qRef = qRef;
|
|
packet.uElev = uElev;
|
|
packet.uThrot = uThrot;
|
|
packet.uThrot2 = uThrot2;
|
|
packet.nZ = nZ;
|
|
packet.AirspeedRef = AirspeedRef;
|
|
packet.YawAngle = YawAngle;
|
|
packet.YawAngleRef = YawAngleRef;
|
|
packet.RollAngle = RollAngle;
|
|
packet.RollAngleRef = RollAngleRef;
|
|
packet.p = p;
|
|
packet.pRef = pRef;
|
|
packet.r = r;
|
|
packet.rRef = rRef;
|
|
packet.uAil = uAil;
|
|
packet.uRud = uRud;
|
|
packet.aslctrl_mode = aslctrl_mode;
|
|
packet.SpoilersEngaged = SpoilersEngaged;
|
|
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ASLCTRL_DATA, (const char *)&packet, MAVLINK_MSG_ID_ASLCTRL_DATA_MIN_LEN, MAVLINK_MSG_ID_ASLCTRL_DATA_LEN, MAVLINK_MSG_ID_ASLCTRL_DATA_CRC);
|
|
#endif
|
|
}
|
|
|
|
/**
|
|
* @brief Send a aslctrl_data message
|
|
* @param chan MAVLink channel to send the message
|
|
* @param struct The MAVLink struct to serialize
|
|
*/
|
|
static inline void mavlink_msg_aslctrl_data_send_struct(mavlink_channel_t chan, const mavlink_aslctrl_data_t* aslctrl_data)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
mavlink_msg_aslctrl_data_send(chan, aslctrl_data->timestamp, aslctrl_data->aslctrl_mode, aslctrl_data->h, aslctrl_data->hRef, aslctrl_data->hRef_t, aslctrl_data->PitchAngle, aslctrl_data->PitchAngleRef, aslctrl_data->q, aslctrl_data->qRef, aslctrl_data->uElev, aslctrl_data->uThrot, aslctrl_data->uThrot2, aslctrl_data->nZ, aslctrl_data->AirspeedRef, aslctrl_data->SpoilersEngaged, aslctrl_data->YawAngle, aslctrl_data->YawAngleRef, aslctrl_data->RollAngle, aslctrl_data->RollAngleRef, aslctrl_data->p, aslctrl_data->pRef, aslctrl_data->r, aslctrl_data->rRef, aslctrl_data->uAil, aslctrl_data->uRud);
|
|
#else
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ASLCTRL_DATA, (const char *)aslctrl_data, MAVLINK_MSG_ID_ASLCTRL_DATA_MIN_LEN, MAVLINK_MSG_ID_ASLCTRL_DATA_LEN, MAVLINK_MSG_ID_ASLCTRL_DATA_CRC);
|
|
#endif
|
|
}
|
|
|
|
#if MAVLINK_MSG_ID_ASLCTRL_DATA_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_aslctrl_data_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t timestamp, uint8_t aslctrl_mode, float h, float hRef, float hRef_t, float PitchAngle, float PitchAngleRef, float q, float qRef, float uElev, float uThrot, float uThrot2, float nZ, float AirspeedRef, uint8_t SpoilersEngaged, float YawAngle, float YawAngleRef, float RollAngle, float RollAngleRef, float p, float pRef, float r, float rRef, float uAil, float uRud)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
char *buf = (char *)msgbuf;
|
|
_mav_put_uint64_t(buf, 0, timestamp);
|
|
_mav_put_float(buf, 8, h);
|
|
_mav_put_float(buf, 12, hRef);
|
|
_mav_put_float(buf, 16, hRef_t);
|
|
_mav_put_float(buf, 20, PitchAngle);
|
|
_mav_put_float(buf, 24, PitchAngleRef);
|
|
_mav_put_float(buf, 28, q);
|
|
_mav_put_float(buf, 32, qRef);
|
|
_mav_put_float(buf, 36, uElev);
|
|
_mav_put_float(buf, 40, uThrot);
|
|
_mav_put_float(buf, 44, uThrot2);
|
|
_mav_put_float(buf, 48, nZ);
|
|
_mav_put_float(buf, 52, AirspeedRef);
|
|
_mav_put_float(buf, 56, YawAngle);
|
|
_mav_put_float(buf, 60, YawAngleRef);
|
|
_mav_put_float(buf, 64, RollAngle);
|
|
_mav_put_float(buf, 68, RollAngleRef);
|
|
_mav_put_float(buf, 72, p);
|
|
_mav_put_float(buf, 76, pRef);
|
|
_mav_put_float(buf, 80, r);
|
|
_mav_put_float(buf, 84, rRef);
|
|
_mav_put_float(buf, 88, uAil);
|
|
_mav_put_float(buf, 92, uRud);
|
|
_mav_put_uint8_t(buf, 96, aslctrl_mode);
|
|
_mav_put_uint8_t(buf, 97, SpoilersEngaged);
|
|
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ASLCTRL_DATA, buf, MAVLINK_MSG_ID_ASLCTRL_DATA_MIN_LEN, MAVLINK_MSG_ID_ASLCTRL_DATA_LEN, MAVLINK_MSG_ID_ASLCTRL_DATA_CRC);
|
|
#else
|
|
mavlink_aslctrl_data_t *packet = (mavlink_aslctrl_data_t *)msgbuf;
|
|
packet->timestamp = timestamp;
|
|
packet->h = h;
|
|
packet->hRef = hRef;
|
|
packet->hRef_t = hRef_t;
|
|
packet->PitchAngle = PitchAngle;
|
|
packet->PitchAngleRef = PitchAngleRef;
|
|
packet->q = q;
|
|
packet->qRef = qRef;
|
|
packet->uElev = uElev;
|
|
packet->uThrot = uThrot;
|
|
packet->uThrot2 = uThrot2;
|
|
packet->nZ = nZ;
|
|
packet->AirspeedRef = AirspeedRef;
|
|
packet->YawAngle = YawAngle;
|
|
packet->YawAngleRef = YawAngleRef;
|
|
packet->RollAngle = RollAngle;
|
|
packet->RollAngleRef = RollAngleRef;
|
|
packet->p = p;
|
|
packet->pRef = pRef;
|
|
packet->r = r;
|
|
packet->rRef = rRef;
|
|
packet->uAil = uAil;
|
|
packet->uRud = uRud;
|
|
packet->aslctrl_mode = aslctrl_mode;
|
|
packet->SpoilersEngaged = SpoilersEngaged;
|
|
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ASLCTRL_DATA, (const char *)packet, MAVLINK_MSG_ID_ASLCTRL_DATA_MIN_LEN, MAVLINK_MSG_ID_ASLCTRL_DATA_LEN, MAVLINK_MSG_ID_ASLCTRL_DATA_CRC);
|
|
#endif
|
|
}
|
|
#endif
|
|
|
|
#endif
|
|
|
|
// MESSAGE ASLCTRL_DATA UNPACKING
|
|
|
|
|
|
/**
|
|
* @brief Get field timestamp from aslctrl_data message
|
|
*
|
|
* @return [us] Timestamp
|
|
*/
|
|
static inline uint64_t mavlink_msg_aslctrl_data_get_timestamp(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint64_t(msg, 0);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field aslctrl_mode from aslctrl_data message
|
|
*
|
|
* @return ASLCTRL control-mode (manual, stabilized, auto, etc...)
|
|
*/
|
|
static inline uint8_t mavlink_msg_aslctrl_data_get_aslctrl_mode(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint8_t(msg, 96);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field h from aslctrl_data message
|
|
*
|
|
* @return See sourcecode for a description of these values...
|
|
*/
|
|
static inline float mavlink_msg_aslctrl_data_get_h(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 8);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field hRef from aslctrl_data message
|
|
*
|
|
* @return
|
|
*/
|
|
static inline float mavlink_msg_aslctrl_data_get_hRef(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 12);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field hRef_t from aslctrl_data message
|
|
*
|
|
* @return
|
|
*/
|
|
static inline float mavlink_msg_aslctrl_data_get_hRef_t(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 16);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field PitchAngle from aslctrl_data message
|
|
*
|
|
* @return [deg] Pitch angle
|
|
*/
|
|
static inline float mavlink_msg_aslctrl_data_get_PitchAngle(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 20);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field PitchAngleRef from aslctrl_data message
|
|
*
|
|
* @return [deg] Pitch angle reference
|
|
*/
|
|
static inline float mavlink_msg_aslctrl_data_get_PitchAngleRef(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 24);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field q from aslctrl_data message
|
|
*
|
|
* @return
|
|
*/
|
|
static inline float mavlink_msg_aslctrl_data_get_q(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 28);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field qRef from aslctrl_data message
|
|
*
|
|
* @return
|
|
*/
|
|
static inline float mavlink_msg_aslctrl_data_get_qRef(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 32);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field uElev from aslctrl_data message
|
|
*
|
|
* @return
|
|
*/
|
|
static inline float mavlink_msg_aslctrl_data_get_uElev(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 36);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field uThrot from aslctrl_data message
|
|
*
|
|
* @return
|
|
*/
|
|
static inline float mavlink_msg_aslctrl_data_get_uThrot(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 40);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field uThrot2 from aslctrl_data message
|
|
*
|
|
* @return
|
|
*/
|
|
static inline float mavlink_msg_aslctrl_data_get_uThrot2(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 44);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field nZ from aslctrl_data message
|
|
*
|
|
* @return
|
|
*/
|
|
static inline float mavlink_msg_aslctrl_data_get_nZ(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 48);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field AirspeedRef from aslctrl_data message
|
|
*
|
|
* @return [m/s] Airspeed reference
|
|
*/
|
|
static inline float mavlink_msg_aslctrl_data_get_AirspeedRef(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 52);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field SpoilersEngaged from aslctrl_data message
|
|
*
|
|
* @return
|
|
*/
|
|
static inline uint8_t mavlink_msg_aslctrl_data_get_SpoilersEngaged(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint8_t(msg, 97);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field YawAngle from aslctrl_data message
|
|
*
|
|
* @return [deg] Yaw angle
|
|
*/
|
|
static inline float mavlink_msg_aslctrl_data_get_YawAngle(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 56);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field YawAngleRef from aslctrl_data message
|
|
*
|
|
* @return [deg] Yaw angle reference
|
|
*/
|
|
static inline float mavlink_msg_aslctrl_data_get_YawAngleRef(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 60);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field RollAngle from aslctrl_data message
|
|
*
|
|
* @return [deg] Roll angle
|
|
*/
|
|
static inline float mavlink_msg_aslctrl_data_get_RollAngle(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 64);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field RollAngleRef from aslctrl_data message
|
|
*
|
|
* @return [deg] Roll angle reference
|
|
*/
|
|
static inline float mavlink_msg_aslctrl_data_get_RollAngleRef(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 68);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field p from aslctrl_data message
|
|
*
|
|
* @return
|
|
*/
|
|
static inline float mavlink_msg_aslctrl_data_get_p(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 72);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field pRef from aslctrl_data message
|
|
*
|
|
* @return
|
|
*/
|
|
static inline float mavlink_msg_aslctrl_data_get_pRef(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 76);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field r from aslctrl_data message
|
|
*
|
|
* @return
|
|
*/
|
|
static inline float mavlink_msg_aslctrl_data_get_r(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 80);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field rRef from aslctrl_data message
|
|
*
|
|
* @return
|
|
*/
|
|
static inline float mavlink_msg_aslctrl_data_get_rRef(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 84);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field uAil from aslctrl_data message
|
|
*
|
|
* @return
|
|
*/
|
|
static inline float mavlink_msg_aslctrl_data_get_uAil(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 88);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field uRud from aslctrl_data message
|
|
*
|
|
* @return
|
|
*/
|
|
static inline float mavlink_msg_aslctrl_data_get_uRud(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 92);
|
|
}
|
|
|
|
/**
|
|
* @brief Decode a aslctrl_data message into a struct
|
|
*
|
|
* @param msg The message to decode
|
|
* @param aslctrl_data C-struct to decode the message contents into
|
|
*/
|
|
static inline void mavlink_msg_aslctrl_data_decode(const mavlink_message_t* msg, mavlink_aslctrl_data_t* aslctrl_data)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
aslctrl_data->timestamp = mavlink_msg_aslctrl_data_get_timestamp(msg);
|
|
aslctrl_data->h = mavlink_msg_aslctrl_data_get_h(msg);
|
|
aslctrl_data->hRef = mavlink_msg_aslctrl_data_get_hRef(msg);
|
|
aslctrl_data->hRef_t = mavlink_msg_aslctrl_data_get_hRef_t(msg);
|
|
aslctrl_data->PitchAngle = mavlink_msg_aslctrl_data_get_PitchAngle(msg);
|
|
aslctrl_data->PitchAngleRef = mavlink_msg_aslctrl_data_get_PitchAngleRef(msg);
|
|
aslctrl_data->q = mavlink_msg_aslctrl_data_get_q(msg);
|
|
aslctrl_data->qRef = mavlink_msg_aslctrl_data_get_qRef(msg);
|
|
aslctrl_data->uElev = mavlink_msg_aslctrl_data_get_uElev(msg);
|
|
aslctrl_data->uThrot = mavlink_msg_aslctrl_data_get_uThrot(msg);
|
|
aslctrl_data->uThrot2 = mavlink_msg_aslctrl_data_get_uThrot2(msg);
|
|
aslctrl_data->nZ = mavlink_msg_aslctrl_data_get_nZ(msg);
|
|
aslctrl_data->AirspeedRef = mavlink_msg_aslctrl_data_get_AirspeedRef(msg);
|
|
aslctrl_data->YawAngle = mavlink_msg_aslctrl_data_get_YawAngle(msg);
|
|
aslctrl_data->YawAngleRef = mavlink_msg_aslctrl_data_get_YawAngleRef(msg);
|
|
aslctrl_data->RollAngle = mavlink_msg_aslctrl_data_get_RollAngle(msg);
|
|
aslctrl_data->RollAngleRef = mavlink_msg_aslctrl_data_get_RollAngleRef(msg);
|
|
aslctrl_data->p = mavlink_msg_aslctrl_data_get_p(msg);
|
|
aslctrl_data->pRef = mavlink_msg_aslctrl_data_get_pRef(msg);
|
|
aslctrl_data->r = mavlink_msg_aslctrl_data_get_r(msg);
|
|
aslctrl_data->rRef = mavlink_msg_aslctrl_data_get_rRef(msg);
|
|
aslctrl_data->uAil = mavlink_msg_aslctrl_data_get_uAil(msg);
|
|
aslctrl_data->uRud = mavlink_msg_aslctrl_data_get_uRud(msg);
|
|
aslctrl_data->aslctrl_mode = mavlink_msg_aslctrl_data_get_aslctrl_mode(msg);
|
|
aslctrl_data->SpoilersEngaged = mavlink_msg_aslctrl_data_get_SpoilersEngaged(msg);
|
|
#else
|
|
uint8_t len = msg->len < MAVLINK_MSG_ID_ASLCTRL_DATA_LEN? msg->len : MAVLINK_MSG_ID_ASLCTRL_DATA_LEN;
|
|
memset(aslctrl_data, 0, MAVLINK_MSG_ID_ASLCTRL_DATA_LEN);
|
|
memcpy(aslctrl_data, _MAV_PAYLOAD(msg), len);
|
|
#endif
|
|
}
|