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
15 KiB
C
364 lines
15 KiB
C
#pragma once
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// MESSAGE MANUAL_SETPOINT PACKING
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#define MAVLINK_MSG_ID_MANUAL_SETPOINT 81
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MAVPACKED(
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typedef struct __mavlink_manual_setpoint_t {
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uint32_t time_boot_ms; /*< [ms] Timestamp (time since system boot).*/
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float roll; /*< [rad/s] Desired roll rate*/
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float pitch; /*< [rad/s] Desired pitch rate*/
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float yaw; /*< [rad/s] Desired yaw rate*/
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float thrust; /*< Collective thrust, normalized to 0 .. 1*/
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uint8_t mode_switch; /*< Flight mode switch position, 0.. 255*/
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uint8_t manual_override_switch; /*< Override mode switch position, 0.. 255*/
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}) mavlink_manual_setpoint_t;
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#define MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN 22
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#define MAVLINK_MSG_ID_MANUAL_SETPOINT_MIN_LEN 22
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#define MAVLINK_MSG_ID_81_LEN 22
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#define MAVLINK_MSG_ID_81_MIN_LEN 22
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#define MAVLINK_MSG_ID_MANUAL_SETPOINT_CRC 106
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#define MAVLINK_MSG_ID_81_CRC 106
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_MANUAL_SETPOINT { \
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81, \
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"MANUAL_SETPOINT", \
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7, \
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{ { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_manual_setpoint_t, time_boot_ms) }, \
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{ "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_manual_setpoint_t, roll) }, \
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{ "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_manual_setpoint_t, pitch) }, \
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{ "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_manual_setpoint_t, yaw) }, \
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{ "thrust", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_manual_setpoint_t, thrust) }, \
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{ "mode_switch", NULL, MAVLINK_TYPE_UINT8_T, 0, 20, offsetof(mavlink_manual_setpoint_t, mode_switch) }, \
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{ "manual_override_switch", NULL, MAVLINK_TYPE_UINT8_T, 0, 21, offsetof(mavlink_manual_setpoint_t, manual_override_switch) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_MANUAL_SETPOINT { \
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"MANUAL_SETPOINT", \
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7, \
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{ { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_manual_setpoint_t, time_boot_ms) }, \
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{ "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_manual_setpoint_t, roll) }, \
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{ "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_manual_setpoint_t, pitch) }, \
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{ "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_manual_setpoint_t, yaw) }, \
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{ "thrust", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_manual_setpoint_t, thrust) }, \
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{ "mode_switch", NULL, MAVLINK_TYPE_UINT8_T, 0, 20, offsetof(mavlink_manual_setpoint_t, mode_switch) }, \
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{ "manual_override_switch", NULL, MAVLINK_TYPE_UINT8_T, 0, 21, offsetof(mavlink_manual_setpoint_t, manual_override_switch) }, \
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} \
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}
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#endif
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/**
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* @brief Pack a manual_setpoint message
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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*
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* @param time_boot_ms [ms] Timestamp (time since system boot).
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* @param roll [rad/s] Desired roll rate
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* @param pitch [rad/s] Desired pitch rate
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* @param yaw [rad/s] Desired yaw rate
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* @param thrust Collective thrust, normalized to 0 .. 1
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* @param mode_switch Flight mode switch position, 0.. 255
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* @param manual_override_switch Override mode switch position, 0.. 255
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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_manual_setpoint_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint32_t time_boot_ms, float roll, float pitch, float yaw, float thrust, uint8_t mode_switch, uint8_t manual_override_switch)
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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_MANUAL_SETPOINT_LEN];
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_mav_put_uint32_t(buf, 0, time_boot_ms);
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_mav_put_float(buf, 4, roll);
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_mav_put_float(buf, 8, pitch);
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_mav_put_float(buf, 12, yaw);
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_mav_put_float(buf, 16, thrust);
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_mav_put_uint8_t(buf, 20, mode_switch);
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_mav_put_uint8_t(buf, 21, manual_override_switch);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN);
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#else
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mavlink_manual_setpoint_t packet;
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packet.time_boot_ms = time_boot_ms;
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packet.roll = roll;
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packet.pitch = pitch;
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packet.yaw = yaw;
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packet.thrust = thrust;
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packet.mode_switch = mode_switch;
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packet.manual_override_switch = manual_override_switch;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_MANUAL_SETPOINT;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_MANUAL_SETPOINT_MIN_LEN, MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN, MAVLINK_MSG_ID_MANUAL_SETPOINT_CRC);
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}
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/**
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* @brief Pack a manual_setpoint message on a channel
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param chan The MAVLink channel this message 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 roll [rad/s] Desired roll rate
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* @param pitch [rad/s] Desired pitch rate
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* @param yaw [rad/s] Desired yaw rate
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* @param thrust Collective thrust, normalized to 0 .. 1
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* @param mode_switch Flight mode switch position, 0.. 255
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* @param manual_override_switch Override mode switch position, 0.. 255
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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_manual_setpoint_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
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mavlink_message_t* msg,
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uint32_t time_boot_ms,float roll,float pitch,float yaw,float thrust,uint8_t mode_switch,uint8_t manual_override_switch)
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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_MANUAL_SETPOINT_LEN];
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_mav_put_uint32_t(buf, 0, time_boot_ms);
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_mav_put_float(buf, 4, roll);
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_mav_put_float(buf, 8, pitch);
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_mav_put_float(buf, 12, yaw);
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_mav_put_float(buf, 16, thrust);
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_mav_put_uint8_t(buf, 20, mode_switch);
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_mav_put_uint8_t(buf, 21, manual_override_switch);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN);
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#else
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mavlink_manual_setpoint_t packet;
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packet.time_boot_ms = time_boot_ms;
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packet.roll = roll;
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packet.pitch = pitch;
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packet.yaw = yaw;
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packet.thrust = thrust;
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packet.mode_switch = mode_switch;
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packet.manual_override_switch = manual_override_switch;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_MANUAL_SETPOINT;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_MANUAL_SETPOINT_MIN_LEN, MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN, MAVLINK_MSG_ID_MANUAL_SETPOINT_CRC);
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}
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/**
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* @brief Encode a manual_setpoint 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 manual_setpoint C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_manual_setpoint_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_manual_setpoint_t* manual_setpoint)
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{
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return mavlink_msg_manual_setpoint_pack(system_id, component_id, msg, manual_setpoint->time_boot_ms, manual_setpoint->roll, manual_setpoint->pitch, manual_setpoint->yaw, manual_setpoint->thrust, manual_setpoint->mode_switch, manual_setpoint->manual_override_switch);
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}
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/**
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* @brief Encode a manual_setpoint 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 manual_setpoint C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_manual_setpoint_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_manual_setpoint_t* manual_setpoint)
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{
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return mavlink_msg_manual_setpoint_pack_chan(system_id, component_id, chan, msg, manual_setpoint->time_boot_ms, manual_setpoint->roll, manual_setpoint->pitch, manual_setpoint->yaw, manual_setpoint->thrust, manual_setpoint->mode_switch, manual_setpoint->manual_override_switch);
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}
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/**
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* @brief Send a manual_setpoint 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 roll [rad/s] Desired roll rate
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* @param pitch [rad/s] Desired pitch rate
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* @param yaw [rad/s] Desired yaw rate
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* @param thrust Collective thrust, normalized to 0 .. 1
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* @param mode_switch Flight mode switch position, 0.. 255
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* @param manual_override_switch Override mode switch position, 0.. 255
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_manual_setpoint_send(mavlink_channel_t chan, uint32_t time_boot_ms, float roll, float pitch, float yaw, float thrust, uint8_t mode_switch, uint8_t manual_override_switch)
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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_MANUAL_SETPOINT_LEN];
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_mav_put_uint32_t(buf, 0, time_boot_ms);
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_mav_put_float(buf, 4, roll);
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_mav_put_float(buf, 8, pitch);
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_mav_put_float(buf, 12, yaw);
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_mav_put_float(buf, 16, thrust);
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_mav_put_uint8_t(buf, 20, mode_switch);
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_mav_put_uint8_t(buf, 21, manual_override_switch);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_SETPOINT, buf, MAVLINK_MSG_ID_MANUAL_SETPOINT_MIN_LEN, MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN, MAVLINK_MSG_ID_MANUAL_SETPOINT_CRC);
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#else
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mavlink_manual_setpoint_t packet;
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packet.time_boot_ms = time_boot_ms;
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packet.roll = roll;
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packet.pitch = pitch;
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packet.yaw = yaw;
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packet.thrust = thrust;
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packet.mode_switch = mode_switch;
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packet.manual_override_switch = manual_override_switch;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_SETPOINT, (const char *)&packet, MAVLINK_MSG_ID_MANUAL_SETPOINT_MIN_LEN, MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN, MAVLINK_MSG_ID_MANUAL_SETPOINT_CRC);
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#endif
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}
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/**
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* @brief Send a manual_setpoint 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_manual_setpoint_send_struct(mavlink_channel_t chan, const mavlink_manual_setpoint_t* manual_setpoint)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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mavlink_msg_manual_setpoint_send(chan, manual_setpoint->time_boot_ms, manual_setpoint->roll, manual_setpoint->pitch, manual_setpoint->yaw, manual_setpoint->thrust, manual_setpoint->mode_switch, manual_setpoint->manual_override_switch);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_SETPOINT, (const char *)manual_setpoint, MAVLINK_MSG_ID_MANUAL_SETPOINT_MIN_LEN, MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN, MAVLINK_MSG_ID_MANUAL_SETPOINT_CRC);
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#endif
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}
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#if MAVLINK_MSG_ID_MANUAL_SETPOINT_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_manual_setpoint_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, float roll, float pitch, float yaw, float thrust, uint8_t mode_switch, uint8_t manual_override_switch)
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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_float(buf, 4, roll);
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_mav_put_float(buf, 8, pitch);
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_mav_put_float(buf, 12, yaw);
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_mav_put_float(buf, 16, thrust);
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_mav_put_uint8_t(buf, 20, mode_switch);
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_mav_put_uint8_t(buf, 21, manual_override_switch);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_SETPOINT, buf, MAVLINK_MSG_ID_MANUAL_SETPOINT_MIN_LEN, MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN, MAVLINK_MSG_ID_MANUAL_SETPOINT_CRC);
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#else
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mavlink_manual_setpoint_t *packet = (mavlink_manual_setpoint_t *)msgbuf;
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packet->time_boot_ms = time_boot_ms;
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packet->roll = roll;
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packet->pitch = pitch;
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packet->yaw = yaw;
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packet->thrust = thrust;
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packet->mode_switch = mode_switch;
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packet->manual_override_switch = manual_override_switch;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_SETPOINT, (const char *)packet, MAVLINK_MSG_ID_MANUAL_SETPOINT_MIN_LEN, MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN, MAVLINK_MSG_ID_MANUAL_SETPOINT_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 MANUAL_SETPOINT UNPACKING
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/**
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* @brief Get field time_boot_ms from manual_setpoint 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_manual_setpoint_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 roll from manual_setpoint message
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*
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* @return [rad/s] Desired roll rate
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*/
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static inline float mavlink_msg_manual_setpoint_get_roll(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 pitch from manual_setpoint message
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*
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* @return [rad/s] Desired pitch rate
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*/
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static inline float mavlink_msg_manual_setpoint_get_pitch(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 8);
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}
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/**
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* @brief Get field yaw from manual_setpoint message
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*
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* @return [rad/s] Desired yaw rate
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*/
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static inline float mavlink_msg_manual_setpoint_get_yaw(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 12);
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}
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/**
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* @brief Get field thrust from manual_setpoint message
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*
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* @return Collective thrust, normalized to 0 .. 1
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*/
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static inline float mavlink_msg_manual_setpoint_get_thrust(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 mode_switch from manual_setpoint message
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*
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* @return Flight mode switch position, 0.. 255
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*/
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static inline uint8_t mavlink_msg_manual_setpoint_get_mode_switch(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 20);
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}
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/**
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* @brief Get field manual_override_switch from manual_setpoint message
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*
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* @return Override mode switch position, 0.. 255
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*/
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static inline uint8_t mavlink_msg_manual_setpoint_get_manual_override_switch(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 21);
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}
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/**
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* @brief Decode a manual_setpoint message into a struct
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*
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* @param msg The message to decode
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* @param manual_setpoint C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_manual_setpoint_decode(const mavlink_message_t* msg, mavlink_manual_setpoint_t* manual_setpoint)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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manual_setpoint->time_boot_ms = mavlink_msg_manual_setpoint_get_time_boot_ms(msg);
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manual_setpoint->roll = mavlink_msg_manual_setpoint_get_roll(msg);
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manual_setpoint->pitch = mavlink_msg_manual_setpoint_get_pitch(msg);
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manual_setpoint->yaw = mavlink_msg_manual_setpoint_get_yaw(msg);
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manual_setpoint->thrust = mavlink_msg_manual_setpoint_get_thrust(msg);
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manual_setpoint->mode_switch = mavlink_msg_manual_setpoint_get_mode_switch(msg);
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manual_setpoint->manual_override_switch = mavlink_msg_manual_setpoint_get_manual_override_switch(msg);
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#else
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uint8_t len = msg->len < MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN? msg->len : MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN;
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memset(manual_setpoint, 0, MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN);
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memcpy(manual_setpoint, _MAV_PAYLOAD(msg), len);
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|
#endif
|
|
}
|