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 NAV_CONTROLLER_OUTPUT PACKING
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#define MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT 62
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MAVPACKED(
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typedef struct __mavlink_nav_controller_output_t {
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float nav_roll; /*< [deg] Current desired roll*/
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float nav_pitch; /*< [deg] Current desired pitch*/
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float alt_error; /*< [m] Current altitude error*/
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float aspd_error; /*< [m/s] Current airspeed error*/
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float xtrack_error; /*< [m] Current crosstrack error on x-y plane*/
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int16_t nav_bearing; /*< [deg] Current desired heading*/
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int16_t target_bearing; /*< [deg] Bearing to current waypoint/target*/
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uint16_t wp_dist; /*< [m] Distance to active waypoint*/
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}) mavlink_nav_controller_output_t;
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#define MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN 26
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#define MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_MIN_LEN 26
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#define MAVLINK_MSG_ID_62_LEN 26
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#define MAVLINK_MSG_ID_62_MIN_LEN 26
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#define MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_CRC 183
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#define MAVLINK_MSG_ID_62_CRC 183
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT { \
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62, \
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"NAV_CONTROLLER_OUTPUT", \
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8, \
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{ { "nav_roll", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_nav_controller_output_t, nav_roll) }, \
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{ "nav_pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_nav_controller_output_t, nav_pitch) }, \
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{ "nav_bearing", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_nav_controller_output_t, nav_bearing) }, \
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{ "target_bearing", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_nav_controller_output_t, target_bearing) }, \
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{ "wp_dist", NULL, MAVLINK_TYPE_UINT16_T, 0, 24, offsetof(mavlink_nav_controller_output_t, wp_dist) }, \
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{ "alt_error", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_nav_controller_output_t, alt_error) }, \
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{ "aspd_error", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_nav_controller_output_t, aspd_error) }, \
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{ "xtrack_error", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_nav_controller_output_t, xtrack_error) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT { \
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"NAV_CONTROLLER_OUTPUT", \
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8, \
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{ { "nav_roll", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_nav_controller_output_t, nav_roll) }, \
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{ "nav_pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_nav_controller_output_t, nav_pitch) }, \
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{ "nav_bearing", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_nav_controller_output_t, nav_bearing) }, \
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{ "target_bearing", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_nav_controller_output_t, target_bearing) }, \
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{ "wp_dist", NULL, MAVLINK_TYPE_UINT16_T, 0, 24, offsetof(mavlink_nav_controller_output_t, wp_dist) }, \
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{ "alt_error", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_nav_controller_output_t, alt_error) }, \
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{ "aspd_error", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_nav_controller_output_t, aspd_error) }, \
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{ "xtrack_error", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_nav_controller_output_t, xtrack_error) }, \
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} \
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}
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#endif
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/**
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* @brief Pack a nav_controller_output 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 nav_roll [deg] Current desired roll
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* @param nav_pitch [deg] Current desired pitch
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* @param nav_bearing [deg] Current desired heading
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* @param target_bearing [deg] Bearing to current waypoint/target
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* @param wp_dist [m] Distance to active waypoint
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* @param alt_error [m] Current altitude error
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* @param aspd_error [m/s] Current airspeed error
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* @param xtrack_error [m] Current crosstrack error on x-y plane
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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_nav_controller_output_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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float nav_roll, float nav_pitch, int16_t nav_bearing, int16_t target_bearing, uint16_t wp_dist, float alt_error, float aspd_error, float xtrack_error)
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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_NAV_CONTROLLER_OUTPUT_LEN];
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_mav_put_float(buf, 0, nav_roll);
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_mav_put_float(buf, 4, nav_pitch);
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_mav_put_float(buf, 8, alt_error);
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_mav_put_float(buf, 12, aspd_error);
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_mav_put_float(buf, 16, xtrack_error);
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_mav_put_int16_t(buf, 20, nav_bearing);
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_mav_put_int16_t(buf, 22, target_bearing);
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_mav_put_uint16_t(buf, 24, wp_dist);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN);
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#else
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mavlink_nav_controller_output_t packet;
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packet.nav_roll = nav_roll;
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packet.nav_pitch = nav_pitch;
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packet.alt_error = alt_error;
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packet.aspd_error = aspd_error;
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packet.xtrack_error = xtrack_error;
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packet.nav_bearing = nav_bearing;
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packet.target_bearing = target_bearing;
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packet.wp_dist = wp_dist;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_MIN_LEN, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_CRC);
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}
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/**
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* @brief Pack a nav_controller_output 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 nav_roll [deg] Current desired roll
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* @param nav_pitch [deg] Current desired pitch
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* @param nav_bearing [deg] Current desired heading
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* @param target_bearing [deg] Bearing to current waypoint/target
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* @param wp_dist [m] Distance to active waypoint
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* @param alt_error [m] Current altitude error
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* @param aspd_error [m/s] Current airspeed error
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* @param xtrack_error [m] Current crosstrack error on x-y plane
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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_nav_controller_output_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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float nav_roll,float nav_pitch,int16_t nav_bearing,int16_t target_bearing,uint16_t wp_dist,float alt_error,float aspd_error,float xtrack_error)
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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_NAV_CONTROLLER_OUTPUT_LEN];
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_mav_put_float(buf, 0, nav_roll);
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_mav_put_float(buf, 4, nav_pitch);
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_mav_put_float(buf, 8, alt_error);
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_mav_put_float(buf, 12, aspd_error);
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_mav_put_float(buf, 16, xtrack_error);
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_mav_put_int16_t(buf, 20, nav_bearing);
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_mav_put_int16_t(buf, 22, target_bearing);
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_mav_put_uint16_t(buf, 24, wp_dist);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN);
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#else
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mavlink_nav_controller_output_t packet;
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packet.nav_roll = nav_roll;
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packet.nav_pitch = nav_pitch;
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packet.alt_error = alt_error;
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packet.aspd_error = aspd_error;
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packet.xtrack_error = xtrack_error;
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packet.nav_bearing = nav_bearing;
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packet.target_bearing = target_bearing;
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packet.wp_dist = wp_dist;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_MIN_LEN, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_CRC);
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}
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/**
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* @brief Encode a nav_controller_output 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 nav_controller_output C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_nav_controller_output_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_nav_controller_output_t* nav_controller_output)
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{
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return mavlink_msg_nav_controller_output_pack(system_id, component_id, msg, nav_controller_output->nav_roll, nav_controller_output->nav_pitch, nav_controller_output->nav_bearing, nav_controller_output->target_bearing, nav_controller_output->wp_dist, nav_controller_output->alt_error, nav_controller_output->aspd_error, nav_controller_output->xtrack_error);
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}
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/**
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* @brief Encode a nav_controller_output 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 nav_controller_output C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_nav_controller_output_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_nav_controller_output_t* nav_controller_output)
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{
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return mavlink_msg_nav_controller_output_pack_chan(system_id, component_id, chan, msg, nav_controller_output->nav_roll, nav_controller_output->nav_pitch, nav_controller_output->nav_bearing, nav_controller_output->target_bearing, nav_controller_output->wp_dist, nav_controller_output->alt_error, nav_controller_output->aspd_error, nav_controller_output->xtrack_error);
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}
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/**
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* @brief Send a nav_controller_output message
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* @param chan MAVLink channel to send the message
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*
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* @param nav_roll [deg] Current desired roll
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* @param nav_pitch [deg] Current desired pitch
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* @param nav_bearing [deg] Current desired heading
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* @param target_bearing [deg] Bearing to current waypoint/target
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* @param wp_dist [m] Distance to active waypoint
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* @param alt_error [m] Current altitude error
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* @param aspd_error [m/s] Current airspeed error
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* @param xtrack_error [m] Current crosstrack error on x-y plane
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_nav_controller_output_send(mavlink_channel_t chan, float nav_roll, float nav_pitch, int16_t nav_bearing, int16_t target_bearing, uint16_t wp_dist, float alt_error, float aspd_error, float xtrack_error)
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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_NAV_CONTROLLER_OUTPUT_LEN];
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_mav_put_float(buf, 0, nav_roll);
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_mav_put_float(buf, 4, nav_pitch);
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_mav_put_float(buf, 8, alt_error);
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_mav_put_float(buf, 12, aspd_error);
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_mav_put_float(buf, 16, xtrack_error);
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_mav_put_int16_t(buf, 20, nav_bearing);
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_mav_put_int16_t(buf, 22, target_bearing);
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_mav_put_uint16_t(buf, 24, wp_dist);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT, buf, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_MIN_LEN, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_CRC);
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#else
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mavlink_nav_controller_output_t packet;
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packet.nav_roll = nav_roll;
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packet.nav_pitch = nav_pitch;
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packet.alt_error = alt_error;
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packet.aspd_error = aspd_error;
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packet.xtrack_error = xtrack_error;
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packet.nav_bearing = nav_bearing;
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packet.target_bearing = target_bearing;
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packet.wp_dist = wp_dist;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT, (const char *)&packet, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_MIN_LEN, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_CRC);
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#endif
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}
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/**
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* @brief Send a nav_controller_output 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_nav_controller_output_send_struct(mavlink_channel_t chan, const mavlink_nav_controller_output_t* nav_controller_output)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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mavlink_msg_nav_controller_output_send(chan, nav_controller_output->nav_roll, nav_controller_output->nav_pitch, nav_controller_output->nav_bearing, nav_controller_output->target_bearing, nav_controller_output->wp_dist, nav_controller_output->alt_error, nav_controller_output->aspd_error, nav_controller_output->xtrack_error);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT, (const char *)nav_controller_output, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_MIN_LEN, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_CRC);
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#endif
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}
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#if MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_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_nav_controller_output_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, float nav_roll, float nav_pitch, int16_t nav_bearing, int16_t target_bearing, uint16_t wp_dist, float alt_error, float aspd_error, float xtrack_error)
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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, nav_roll);
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_mav_put_float(buf, 4, nav_pitch);
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_mav_put_float(buf, 8, alt_error);
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_mav_put_float(buf, 12, aspd_error);
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_mav_put_float(buf, 16, xtrack_error);
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_mav_put_int16_t(buf, 20, nav_bearing);
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_mav_put_int16_t(buf, 22, target_bearing);
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_mav_put_uint16_t(buf, 24, wp_dist);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT, buf, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_MIN_LEN, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_CRC);
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#else
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mavlink_nav_controller_output_t *packet = (mavlink_nav_controller_output_t *)msgbuf;
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packet->nav_roll = nav_roll;
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packet->nav_pitch = nav_pitch;
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packet->alt_error = alt_error;
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packet->aspd_error = aspd_error;
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packet->xtrack_error = xtrack_error;
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packet->nav_bearing = nav_bearing;
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packet->target_bearing = target_bearing;
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packet->wp_dist = wp_dist;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT, (const char *)packet, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_MIN_LEN, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_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 NAV_CONTROLLER_OUTPUT UNPACKING
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/**
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* @brief Get field nav_roll from nav_controller_output message
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*
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* @return [deg] Current desired roll
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*/
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static inline float mavlink_msg_nav_controller_output_get_nav_roll(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 nav_pitch from nav_controller_output message
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*
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* @return [deg] Current desired pitch
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*/
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static inline float mavlink_msg_nav_controller_output_get_nav_pitch(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 nav_bearing from nav_controller_output message
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*
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* @return [deg] Current desired heading
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*/
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static inline int16_t mavlink_msg_nav_controller_output_get_nav_bearing(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_int16_t(msg, 20);
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}
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/**
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* @brief Get field target_bearing from nav_controller_output message
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*
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* @return [deg] Bearing to current waypoint/target
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*/
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static inline int16_t mavlink_msg_nav_controller_output_get_target_bearing(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_int16_t(msg, 22);
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}
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/**
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* @brief Get field wp_dist from nav_controller_output message
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*
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* @return [m] Distance to active waypoint
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*/
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static inline uint16_t mavlink_msg_nav_controller_output_get_wp_dist(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint16_t(msg, 24);
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}
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/**
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* @brief Get field alt_error from nav_controller_output message
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*
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* @return [m] Current altitude error
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|
*/
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|
static inline float mavlink_msg_nav_controller_output_get_alt_error(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 8);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field aspd_error from nav_controller_output message
|
|
*
|
|
* @return [m/s] Current airspeed error
|
|
*/
|
|
static inline float mavlink_msg_nav_controller_output_get_aspd_error(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 12);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field xtrack_error from nav_controller_output message
|
|
*
|
|
* @return [m] Current crosstrack error on x-y plane
|
|
*/
|
|
static inline float mavlink_msg_nav_controller_output_get_xtrack_error(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 16);
|
|
}
|
|
|
|
/**
|
|
* @brief Decode a nav_controller_output message into a struct
|
|
*
|
|
* @param msg The message to decode
|
|
* @param nav_controller_output C-struct to decode the message contents into
|
|
*/
|
|
static inline void mavlink_msg_nav_controller_output_decode(const mavlink_message_t* msg, mavlink_nav_controller_output_t* nav_controller_output)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
nav_controller_output->nav_roll = mavlink_msg_nav_controller_output_get_nav_roll(msg);
|
|
nav_controller_output->nav_pitch = mavlink_msg_nav_controller_output_get_nav_pitch(msg);
|
|
nav_controller_output->alt_error = mavlink_msg_nav_controller_output_get_alt_error(msg);
|
|
nav_controller_output->aspd_error = mavlink_msg_nav_controller_output_get_aspd_error(msg);
|
|
nav_controller_output->xtrack_error = mavlink_msg_nav_controller_output_get_xtrack_error(msg);
|
|
nav_controller_output->nav_bearing = mavlink_msg_nav_controller_output_get_nav_bearing(msg);
|
|
nav_controller_output->target_bearing = mavlink_msg_nav_controller_output_get_target_bearing(msg);
|
|
nav_controller_output->wp_dist = mavlink_msg_nav_controller_output_get_wp_dist(msg);
|
|
#else
|
|
uint8_t len = msg->len < MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN? msg->len : MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN;
|
|
memset(nav_controller_output, 0, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN);
|
|
memcpy(nav_controller_output, _MAV_PAYLOAD(msg), len);
|
|
#endif
|
|
}
|