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
18 KiB
C
389 lines
18 KiB
C
#pragma once
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// MESSAGE DISTANCE_SENSOR PACKING
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#define MAVLINK_MSG_ID_DISTANCE_SENSOR 132
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MAVPACKED(
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typedef struct __mavlink_distance_sensor_t {
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uint32_t time_boot_ms; /*< [ms] Timestamp (time since system boot).*/
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uint16_t min_distance; /*< [cm] Minimum distance the sensor can measure*/
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uint16_t max_distance; /*< [cm] Maximum distance the sensor can measure*/
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uint16_t current_distance; /*< [cm] Current distance reading*/
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uint8_t type; /*< Type of distance sensor.*/
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uint8_t id; /*< Onboard ID of the sensor*/
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uint8_t orientation; /*< Direction the sensor faces. downward-facing: ROTATION_PITCH_270, upward-facing: ROTATION_PITCH_90, backward-facing: ROTATION_PITCH_180, forward-facing: ROTATION_NONE, left-facing: ROTATION_YAW_90, right-facing: ROTATION_YAW_270*/
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uint8_t covariance; /*< [cm^2] Measurement variance. Max standard deviation is 6cm. 255 if unknown.*/
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}) mavlink_distance_sensor_t;
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#define MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN 14
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#define MAVLINK_MSG_ID_DISTANCE_SENSOR_MIN_LEN 14
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#define MAVLINK_MSG_ID_132_LEN 14
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#define MAVLINK_MSG_ID_132_MIN_LEN 14
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#define MAVLINK_MSG_ID_DISTANCE_SENSOR_CRC 85
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#define MAVLINK_MSG_ID_132_CRC 85
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_DISTANCE_SENSOR { \
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132, \
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"DISTANCE_SENSOR", \
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8, \
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{ { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_distance_sensor_t, time_boot_ms) }, \
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{ "min_distance", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_distance_sensor_t, min_distance) }, \
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{ "max_distance", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_distance_sensor_t, max_distance) }, \
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{ "current_distance", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_distance_sensor_t, current_distance) }, \
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{ "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 10, offsetof(mavlink_distance_sensor_t, type) }, \
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{ "id", NULL, MAVLINK_TYPE_UINT8_T, 0, 11, offsetof(mavlink_distance_sensor_t, id) }, \
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{ "orientation", NULL, MAVLINK_TYPE_UINT8_T, 0, 12, offsetof(mavlink_distance_sensor_t, orientation) }, \
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{ "covariance", NULL, MAVLINK_TYPE_UINT8_T, 0, 13, offsetof(mavlink_distance_sensor_t, covariance) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_DISTANCE_SENSOR { \
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"DISTANCE_SENSOR", \
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8, \
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{ { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_distance_sensor_t, time_boot_ms) }, \
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{ "min_distance", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_distance_sensor_t, min_distance) }, \
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{ "max_distance", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_distance_sensor_t, max_distance) }, \
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{ "current_distance", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_distance_sensor_t, current_distance) }, \
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{ "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 10, offsetof(mavlink_distance_sensor_t, type) }, \
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{ "id", NULL, MAVLINK_TYPE_UINT8_T, 0, 11, offsetof(mavlink_distance_sensor_t, id) }, \
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{ "orientation", NULL, MAVLINK_TYPE_UINT8_T, 0, 12, offsetof(mavlink_distance_sensor_t, orientation) }, \
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{ "covariance", NULL, MAVLINK_TYPE_UINT8_T, 0, 13, offsetof(mavlink_distance_sensor_t, covariance) }, \
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} \
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}
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#endif
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/**
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* @brief Pack a distance_sensor 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 time_boot_ms [ms] Timestamp (time since system boot).
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* @param min_distance [cm] Minimum distance the sensor can measure
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* @param max_distance [cm] Maximum distance the sensor can measure
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* @param current_distance [cm] Current distance reading
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* @param type Type of distance sensor.
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* @param id Onboard ID of the sensor
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* @param orientation Direction the sensor faces. downward-facing: ROTATION_PITCH_270, upward-facing: ROTATION_PITCH_90, backward-facing: ROTATION_PITCH_180, forward-facing: ROTATION_NONE, left-facing: ROTATION_YAW_90, right-facing: ROTATION_YAW_270
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* @param covariance [cm^2] Measurement variance. Max standard deviation is 6cm. 255 if unknown.
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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_distance_sensor_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint32_t time_boot_ms, uint16_t min_distance, uint16_t max_distance, uint16_t current_distance, uint8_t type, uint8_t id, uint8_t orientation, uint8_t covariance)
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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_DISTANCE_SENSOR_LEN];
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_mav_put_uint32_t(buf, 0, time_boot_ms);
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_mav_put_uint16_t(buf, 4, min_distance);
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_mav_put_uint16_t(buf, 6, max_distance);
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_mav_put_uint16_t(buf, 8, current_distance);
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_mav_put_uint8_t(buf, 10, type);
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_mav_put_uint8_t(buf, 11, id);
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_mav_put_uint8_t(buf, 12, orientation);
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_mav_put_uint8_t(buf, 13, covariance);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN);
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#else
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mavlink_distance_sensor_t packet;
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packet.time_boot_ms = time_boot_ms;
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packet.min_distance = min_distance;
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packet.max_distance = max_distance;
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packet.current_distance = current_distance;
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packet.type = type;
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packet.id = id;
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packet.orientation = orientation;
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packet.covariance = covariance;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_DISTANCE_SENSOR;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_DISTANCE_SENSOR_MIN_LEN, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN, MAVLINK_MSG_ID_DISTANCE_SENSOR_CRC);
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}
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/**
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* @brief Pack a distance_sensor 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 time_boot_ms [ms] Timestamp (time since system boot).
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* @param min_distance [cm] Minimum distance the sensor can measure
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* @param max_distance [cm] Maximum distance the sensor can measure
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* @param current_distance [cm] Current distance reading
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* @param type Type of distance sensor.
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* @param id Onboard ID of the sensor
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* @param orientation Direction the sensor faces. downward-facing: ROTATION_PITCH_270, upward-facing: ROTATION_PITCH_90, backward-facing: ROTATION_PITCH_180, forward-facing: ROTATION_NONE, left-facing: ROTATION_YAW_90, right-facing: ROTATION_YAW_270
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* @param covariance [cm^2] Measurement variance. Max standard deviation is 6cm. 255 if unknown.
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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_distance_sensor_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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uint32_t time_boot_ms,uint16_t min_distance,uint16_t max_distance,uint16_t current_distance,uint8_t type,uint8_t id,uint8_t orientation,uint8_t covariance)
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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_DISTANCE_SENSOR_LEN];
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_mav_put_uint32_t(buf, 0, time_boot_ms);
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_mav_put_uint16_t(buf, 4, min_distance);
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_mav_put_uint16_t(buf, 6, max_distance);
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_mav_put_uint16_t(buf, 8, current_distance);
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_mav_put_uint8_t(buf, 10, type);
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_mav_put_uint8_t(buf, 11, id);
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_mav_put_uint8_t(buf, 12, orientation);
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_mav_put_uint8_t(buf, 13, covariance);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN);
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#else
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mavlink_distance_sensor_t packet;
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packet.time_boot_ms = time_boot_ms;
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packet.min_distance = min_distance;
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packet.max_distance = max_distance;
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packet.current_distance = current_distance;
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packet.type = type;
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packet.id = id;
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packet.orientation = orientation;
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packet.covariance = covariance;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_DISTANCE_SENSOR;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_DISTANCE_SENSOR_MIN_LEN, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN, MAVLINK_MSG_ID_DISTANCE_SENSOR_CRC);
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}
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/**
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* @brief Encode a distance_sensor 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 distance_sensor C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_distance_sensor_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_distance_sensor_t* distance_sensor)
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{
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return mavlink_msg_distance_sensor_pack(system_id, component_id, msg, distance_sensor->time_boot_ms, distance_sensor->min_distance, distance_sensor->max_distance, distance_sensor->current_distance, distance_sensor->type, distance_sensor->id, distance_sensor->orientation, distance_sensor->covariance);
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}
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/**
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* @brief Encode a distance_sensor 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 distance_sensor C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_distance_sensor_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_distance_sensor_t* distance_sensor)
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{
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return mavlink_msg_distance_sensor_pack_chan(system_id, component_id, chan, msg, distance_sensor->time_boot_ms, distance_sensor->min_distance, distance_sensor->max_distance, distance_sensor->current_distance, distance_sensor->type, distance_sensor->id, distance_sensor->orientation, distance_sensor->covariance);
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}
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/**
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* @brief Send a distance_sensor message
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* @param chan MAVLink channel to send the message
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*
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* @param time_boot_ms [ms] Timestamp (time since system boot).
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* @param min_distance [cm] Minimum distance the sensor can measure
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* @param max_distance [cm] Maximum distance the sensor can measure
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* @param current_distance [cm] Current distance reading
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* @param type Type of distance sensor.
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* @param id Onboard ID of the sensor
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* @param orientation Direction the sensor faces. downward-facing: ROTATION_PITCH_270, upward-facing: ROTATION_PITCH_90, backward-facing: ROTATION_PITCH_180, forward-facing: ROTATION_NONE, left-facing: ROTATION_YAW_90, right-facing: ROTATION_YAW_270
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* @param covariance [cm^2] Measurement variance. Max standard deviation is 6cm. 255 if unknown.
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_distance_sensor_send(mavlink_channel_t chan, uint32_t time_boot_ms, uint16_t min_distance, uint16_t max_distance, uint16_t current_distance, uint8_t type, uint8_t id, uint8_t orientation, uint8_t covariance)
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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_DISTANCE_SENSOR_LEN];
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_mav_put_uint32_t(buf, 0, time_boot_ms);
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_mav_put_uint16_t(buf, 4, min_distance);
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_mav_put_uint16_t(buf, 6, max_distance);
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_mav_put_uint16_t(buf, 8, current_distance);
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_mav_put_uint8_t(buf, 10, type);
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_mav_put_uint8_t(buf, 11, id);
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_mav_put_uint8_t(buf, 12, orientation);
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_mav_put_uint8_t(buf, 13, covariance);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DISTANCE_SENSOR, buf, MAVLINK_MSG_ID_DISTANCE_SENSOR_MIN_LEN, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN, MAVLINK_MSG_ID_DISTANCE_SENSOR_CRC);
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#else
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mavlink_distance_sensor_t packet;
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packet.time_boot_ms = time_boot_ms;
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packet.min_distance = min_distance;
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packet.max_distance = max_distance;
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packet.current_distance = current_distance;
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packet.type = type;
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packet.id = id;
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packet.orientation = orientation;
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packet.covariance = covariance;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DISTANCE_SENSOR, (const char *)&packet, MAVLINK_MSG_ID_DISTANCE_SENSOR_MIN_LEN, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN, MAVLINK_MSG_ID_DISTANCE_SENSOR_CRC);
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#endif
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}
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/**
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* @brief Send a distance_sensor 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_distance_sensor_send_struct(mavlink_channel_t chan, const mavlink_distance_sensor_t* distance_sensor)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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mavlink_msg_distance_sensor_send(chan, distance_sensor->time_boot_ms, distance_sensor->min_distance, distance_sensor->max_distance, distance_sensor->current_distance, distance_sensor->type, distance_sensor->id, distance_sensor->orientation, distance_sensor->covariance);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DISTANCE_SENSOR, (const char *)distance_sensor, MAVLINK_MSG_ID_DISTANCE_SENSOR_MIN_LEN, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN, MAVLINK_MSG_ID_DISTANCE_SENSOR_CRC);
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#endif
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}
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#if MAVLINK_MSG_ID_DISTANCE_SENSOR_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_distance_sensor_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, uint16_t min_distance, uint16_t max_distance, uint16_t current_distance, uint8_t type, uint8_t id, uint8_t orientation, uint8_t covariance)
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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_uint32_t(buf, 0, time_boot_ms);
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_mav_put_uint16_t(buf, 4, min_distance);
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_mav_put_uint16_t(buf, 6, max_distance);
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_mav_put_uint16_t(buf, 8, current_distance);
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_mav_put_uint8_t(buf, 10, type);
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_mav_put_uint8_t(buf, 11, id);
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_mav_put_uint8_t(buf, 12, orientation);
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_mav_put_uint8_t(buf, 13, covariance);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DISTANCE_SENSOR, buf, MAVLINK_MSG_ID_DISTANCE_SENSOR_MIN_LEN, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN, MAVLINK_MSG_ID_DISTANCE_SENSOR_CRC);
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#else
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mavlink_distance_sensor_t *packet = (mavlink_distance_sensor_t *)msgbuf;
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packet->time_boot_ms = time_boot_ms;
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packet->min_distance = min_distance;
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packet->max_distance = max_distance;
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packet->current_distance = current_distance;
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packet->type = type;
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packet->id = id;
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packet->orientation = orientation;
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packet->covariance = covariance;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DISTANCE_SENSOR, (const char *)packet, MAVLINK_MSG_ID_DISTANCE_SENSOR_MIN_LEN, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN, MAVLINK_MSG_ID_DISTANCE_SENSOR_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 DISTANCE_SENSOR UNPACKING
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/**
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* @brief Get field time_boot_ms from distance_sensor message
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*
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* @return [ms] Timestamp (time since system boot).
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*/
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static inline uint32_t mavlink_msg_distance_sensor_get_time_boot_ms(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint32_t(msg, 0);
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}
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/**
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* @brief Get field min_distance from distance_sensor message
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*
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* @return [cm] Minimum distance the sensor can measure
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*/
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static inline uint16_t mavlink_msg_distance_sensor_get_min_distance(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint16_t(msg, 4);
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}
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/**
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* @brief Get field max_distance from distance_sensor message
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*
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* @return [cm] Maximum distance the sensor can measure
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*/
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static inline uint16_t mavlink_msg_distance_sensor_get_max_distance(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint16_t(msg, 6);
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}
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/**
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* @brief Get field current_distance from distance_sensor message
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*
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* @return [cm] Current distance reading
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*/
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static inline uint16_t mavlink_msg_distance_sensor_get_current_distance(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint16_t(msg, 8);
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}
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/**
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* @brief Get field type from distance_sensor message
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*
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* @return Type of distance sensor.
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*/
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static inline uint8_t mavlink_msg_distance_sensor_get_type(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 10);
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}
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/**
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* @brief Get field id from distance_sensor message
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*
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* @return Onboard ID of the sensor
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*/
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static inline uint8_t mavlink_msg_distance_sensor_get_id(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 11);
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}
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/**
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* @brief Get field orientation from distance_sensor message
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*
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* @return Direction the sensor faces. downward-facing: ROTATION_PITCH_270, upward-facing: ROTATION_PITCH_90, backward-facing: ROTATION_PITCH_180, forward-facing: ROTATION_NONE, left-facing: ROTATION_YAW_90, right-facing: ROTATION_YAW_270
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*/
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static inline uint8_t mavlink_msg_distance_sensor_get_orientation(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 12);
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}
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/**
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* @brief Get field covariance from distance_sensor message
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*
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* @return [cm^2] Measurement variance. Max standard deviation is 6cm. 255 if unknown.
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*/
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static inline uint8_t mavlink_msg_distance_sensor_get_covariance(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 13);
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}
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/**
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* @brief Decode a distance_sensor message into a struct
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*
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* @param msg The message to decode
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* @param distance_sensor C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_distance_sensor_decode(const mavlink_message_t* msg, mavlink_distance_sensor_t* distance_sensor)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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distance_sensor->time_boot_ms = mavlink_msg_distance_sensor_get_time_boot_ms(msg);
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distance_sensor->min_distance = mavlink_msg_distance_sensor_get_min_distance(msg);
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distance_sensor->max_distance = mavlink_msg_distance_sensor_get_max_distance(msg);
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distance_sensor->current_distance = mavlink_msg_distance_sensor_get_current_distance(msg);
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distance_sensor->type = mavlink_msg_distance_sensor_get_type(msg);
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distance_sensor->id = mavlink_msg_distance_sensor_get_id(msg);
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distance_sensor->orientation = mavlink_msg_distance_sensor_get_orientation(msg);
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distance_sensor->covariance = mavlink_msg_distance_sensor_get_covariance(msg);
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#else
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uint8_t len = msg->len < MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN? msg->len : MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN;
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memset(distance_sensor, 0, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN);
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memcpy(distance_sensor, _MAV_PAYLOAD(msg), len);
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#endif
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}
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