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
364 lines
13 KiB
C
364 lines
13 KiB
C
#pragma once
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// MESSAGE PID_TUNING PACKING
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#define MAVLINK_MSG_ID_PID_TUNING 194
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MAVPACKED(
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typedef struct __mavlink_pid_tuning_t {
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float desired; /*< [deg/s] Desired rate.*/
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float achieved; /*< [deg/s] Achieved rate.*/
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float FF; /*< FF component.*/
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float P; /*< P component.*/
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float I; /*< I component.*/
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float D; /*< D component.*/
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uint8_t axis; /*< Axis.*/
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}) mavlink_pid_tuning_t;
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#define MAVLINK_MSG_ID_PID_TUNING_LEN 25
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#define MAVLINK_MSG_ID_PID_TUNING_MIN_LEN 25
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#define MAVLINK_MSG_ID_194_LEN 25
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#define MAVLINK_MSG_ID_194_MIN_LEN 25
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#define MAVLINK_MSG_ID_PID_TUNING_CRC 98
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#define MAVLINK_MSG_ID_194_CRC 98
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_PID_TUNING { \
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194, \
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"PID_TUNING", \
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7, \
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{ { "axis", NULL, MAVLINK_TYPE_UINT8_T, 0, 24, offsetof(mavlink_pid_tuning_t, axis) }, \
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{ "desired", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_pid_tuning_t, desired) }, \
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{ "achieved", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_pid_tuning_t, achieved) }, \
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{ "FF", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_pid_tuning_t, FF) }, \
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{ "P", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_pid_tuning_t, P) }, \
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{ "I", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_pid_tuning_t, I) }, \
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{ "D", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_pid_tuning_t, D) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_PID_TUNING { \
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"PID_TUNING", \
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7, \
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{ { "axis", NULL, MAVLINK_TYPE_UINT8_T, 0, 24, offsetof(mavlink_pid_tuning_t, axis) }, \
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{ "desired", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_pid_tuning_t, desired) }, \
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{ "achieved", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_pid_tuning_t, achieved) }, \
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{ "FF", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_pid_tuning_t, FF) }, \
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{ "P", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_pid_tuning_t, P) }, \
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{ "I", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_pid_tuning_t, I) }, \
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{ "D", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_pid_tuning_t, D) }, \
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} \
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}
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#endif
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/**
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* @brief Pack a pid_tuning 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 axis Axis.
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* @param desired [deg/s] Desired rate.
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* @param achieved [deg/s] Achieved rate.
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* @param FF FF component.
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* @param P P component.
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* @param I I component.
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* @param D D component.
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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_pid_tuning_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint8_t axis, float desired, float achieved, float FF, float P, float I, float D)
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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_PID_TUNING_LEN];
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_mav_put_float(buf, 0, desired);
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_mav_put_float(buf, 4, achieved);
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_mav_put_float(buf, 8, FF);
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_mav_put_float(buf, 12, P);
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_mav_put_float(buf, 16, I);
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_mav_put_float(buf, 20, D);
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_mav_put_uint8_t(buf, 24, axis);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_PID_TUNING_LEN);
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#else
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mavlink_pid_tuning_t packet;
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packet.desired = desired;
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packet.achieved = achieved;
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packet.FF = FF;
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packet.P = P;
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packet.I = I;
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packet.D = D;
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packet.axis = axis;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_PID_TUNING_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_PID_TUNING;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_PID_TUNING_MIN_LEN, MAVLINK_MSG_ID_PID_TUNING_LEN, MAVLINK_MSG_ID_PID_TUNING_CRC);
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}
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/**
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* @brief Pack a pid_tuning 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 axis Axis.
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* @param desired [deg/s] Desired rate.
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* @param achieved [deg/s] Achieved rate.
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* @param FF FF component.
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* @param P P component.
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* @param I I component.
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* @param D D component.
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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_pid_tuning_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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uint8_t axis,float desired,float achieved,float FF,float P,float I,float D)
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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_PID_TUNING_LEN];
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_mav_put_float(buf, 0, desired);
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_mav_put_float(buf, 4, achieved);
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_mav_put_float(buf, 8, FF);
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_mav_put_float(buf, 12, P);
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_mav_put_float(buf, 16, I);
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_mav_put_float(buf, 20, D);
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_mav_put_uint8_t(buf, 24, axis);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_PID_TUNING_LEN);
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#else
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mavlink_pid_tuning_t packet;
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packet.desired = desired;
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packet.achieved = achieved;
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packet.FF = FF;
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packet.P = P;
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packet.I = I;
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packet.D = D;
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packet.axis = axis;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_PID_TUNING_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_PID_TUNING;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_PID_TUNING_MIN_LEN, MAVLINK_MSG_ID_PID_TUNING_LEN, MAVLINK_MSG_ID_PID_TUNING_CRC);
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}
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/**
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* @brief Encode a pid_tuning 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 pid_tuning C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_pid_tuning_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_pid_tuning_t* pid_tuning)
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{
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return mavlink_msg_pid_tuning_pack(system_id, component_id, msg, pid_tuning->axis, pid_tuning->desired, pid_tuning->achieved, pid_tuning->FF, pid_tuning->P, pid_tuning->I, pid_tuning->D);
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}
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/**
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* @brief Encode a pid_tuning 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 pid_tuning C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_pid_tuning_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_pid_tuning_t* pid_tuning)
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{
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return mavlink_msg_pid_tuning_pack_chan(system_id, component_id, chan, msg, pid_tuning->axis, pid_tuning->desired, pid_tuning->achieved, pid_tuning->FF, pid_tuning->P, pid_tuning->I, pid_tuning->D);
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}
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/**
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* @brief Send a pid_tuning message
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* @param chan MAVLink channel to send the message
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*
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* @param axis Axis.
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* @param desired [deg/s] Desired rate.
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* @param achieved [deg/s] Achieved rate.
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* @param FF FF component.
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* @param P P component.
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* @param I I component.
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* @param D D component.
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_pid_tuning_send(mavlink_channel_t chan, uint8_t axis, float desired, float achieved, float FF, float P, float I, float D)
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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_PID_TUNING_LEN];
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_mav_put_float(buf, 0, desired);
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_mav_put_float(buf, 4, achieved);
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_mav_put_float(buf, 8, FF);
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_mav_put_float(buf, 12, P);
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_mav_put_float(buf, 16, I);
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_mav_put_float(buf, 20, D);
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_mav_put_uint8_t(buf, 24, axis);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PID_TUNING, buf, MAVLINK_MSG_ID_PID_TUNING_MIN_LEN, MAVLINK_MSG_ID_PID_TUNING_LEN, MAVLINK_MSG_ID_PID_TUNING_CRC);
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#else
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mavlink_pid_tuning_t packet;
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packet.desired = desired;
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packet.achieved = achieved;
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packet.FF = FF;
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packet.P = P;
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packet.I = I;
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packet.D = D;
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packet.axis = axis;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PID_TUNING, (const char *)&packet, MAVLINK_MSG_ID_PID_TUNING_MIN_LEN, MAVLINK_MSG_ID_PID_TUNING_LEN, MAVLINK_MSG_ID_PID_TUNING_CRC);
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#endif
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}
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/**
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* @brief Send a pid_tuning 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_pid_tuning_send_struct(mavlink_channel_t chan, const mavlink_pid_tuning_t* pid_tuning)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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mavlink_msg_pid_tuning_send(chan, pid_tuning->axis, pid_tuning->desired, pid_tuning->achieved, pid_tuning->FF, pid_tuning->P, pid_tuning->I, pid_tuning->D);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PID_TUNING, (const char *)pid_tuning, MAVLINK_MSG_ID_PID_TUNING_MIN_LEN, MAVLINK_MSG_ID_PID_TUNING_LEN, MAVLINK_MSG_ID_PID_TUNING_CRC);
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#endif
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}
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#if MAVLINK_MSG_ID_PID_TUNING_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_pid_tuning_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t axis, float desired, float achieved, float FF, float P, float I, float D)
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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_float(buf, 0, desired);
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_mav_put_float(buf, 4, achieved);
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_mav_put_float(buf, 8, FF);
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_mav_put_float(buf, 12, P);
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_mav_put_float(buf, 16, I);
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_mav_put_float(buf, 20, D);
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_mav_put_uint8_t(buf, 24, axis);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PID_TUNING, buf, MAVLINK_MSG_ID_PID_TUNING_MIN_LEN, MAVLINK_MSG_ID_PID_TUNING_LEN, MAVLINK_MSG_ID_PID_TUNING_CRC);
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#else
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mavlink_pid_tuning_t *packet = (mavlink_pid_tuning_t *)msgbuf;
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packet->desired = desired;
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packet->achieved = achieved;
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packet->FF = FF;
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packet->P = P;
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packet->I = I;
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packet->D = D;
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packet->axis = axis;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PID_TUNING, (const char *)packet, MAVLINK_MSG_ID_PID_TUNING_MIN_LEN, MAVLINK_MSG_ID_PID_TUNING_LEN, MAVLINK_MSG_ID_PID_TUNING_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 PID_TUNING UNPACKING
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/**
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* @brief Get field axis from pid_tuning message
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*
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* @return Axis.
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*/
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static inline uint8_t mavlink_msg_pid_tuning_get_axis(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 24);
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}
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/**
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* @brief Get field desired from pid_tuning message
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*
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* @return [deg/s] Desired rate.
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*/
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static inline float mavlink_msg_pid_tuning_get_desired(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 achieved from pid_tuning message
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*
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* @return [deg/s] Achieved rate.
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*/
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static inline float mavlink_msg_pid_tuning_get_achieved(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 FF from pid_tuning message
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*
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* @return FF component.
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*/
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static inline float mavlink_msg_pid_tuning_get_FF(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 P from pid_tuning message
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*
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* @return P component.
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*/
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static inline float mavlink_msg_pid_tuning_get_P(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 I from pid_tuning message
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*
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* @return I component.
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*/
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static inline float mavlink_msg_pid_tuning_get_I(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 D from pid_tuning message
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*
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* @return D component.
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*/
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static inline float mavlink_msg_pid_tuning_get_D(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 Decode a pid_tuning message into a struct
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*
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* @param msg The message to decode
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* @param pid_tuning C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_pid_tuning_decode(const mavlink_message_t* msg, mavlink_pid_tuning_t* pid_tuning)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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pid_tuning->desired = mavlink_msg_pid_tuning_get_desired(msg);
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pid_tuning->achieved = mavlink_msg_pid_tuning_get_achieved(msg);
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pid_tuning->FF = mavlink_msg_pid_tuning_get_FF(msg);
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pid_tuning->P = mavlink_msg_pid_tuning_get_P(msg);
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pid_tuning->I = mavlink_msg_pid_tuning_get_I(msg);
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pid_tuning->D = mavlink_msg_pid_tuning_get_D(msg);
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pid_tuning->axis = mavlink_msg_pid_tuning_get_axis(msg);
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#else
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uint8_t len = msg->len < MAVLINK_MSG_ID_PID_TUNING_LEN? msg->len : MAVLINK_MSG_ID_PID_TUNING_LEN;
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memset(pid_tuning, 0, MAVLINK_MSG_ID_PID_TUNING_LEN);
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memcpy(pid_tuning, _MAV_PAYLOAD(msg), len);
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#endif
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}
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