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
281 lines
14 KiB
C
281 lines
14 KiB
C
#pragma once
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// MESSAGE HIL_ACTUATOR_CONTROLS PACKING
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#define MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS 93
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MAVPACKED(
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typedef struct __mavlink_hil_actuator_controls_t {
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uint64_t time_usec; /*< [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.*/
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uint64_t flags; /*< Flags as bitfield, 1: indicate simulation using lockstep.*/
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float controls[16]; /*< Control outputs -1 .. 1. Channel assignment depends on the simulated hardware.*/
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uint8_t mode; /*< System mode. Includes arming state.*/
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}) mavlink_hil_actuator_controls_t;
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#define MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN 81
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#define MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_MIN_LEN 81
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#define MAVLINK_MSG_ID_93_LEN 81
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#define MAVLINK_MSG_ID_93_MIN_LEN 81
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#define MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_CRC 47
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#define MAVLINK_MSG_ID_93_CRC 47
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#define MAVLINK_MSG_HIL_ACTUATOR_CONTROLS_FIELD_CONTROLS_LEN 16
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_HIL_ACTUATOR_CONTROLS { \
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93, \
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"HIL_ACTUATOR_CONTROLS", \
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4, \
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{ { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_actuator_controls_t, time_usec) }, \
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{ "controls", NULL, MAVLINK_TYPE_FLOAT, 16, 16, offsetof(mavlink_hil_actuator_controls_t, controls) }, \
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{ "mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 80, offsetof(mavlink_hil_actuator_controls_t, mode) }, \
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{ "flags", NULL, MAVLINK_TYPE_UINT64_T, 0, 8, offsetof(mavlink_hil_actuator_controls_t, flags) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_HIL_ACTUATOR_CONTROLS { \
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"HIL_ACTUATOR_CONTROLS", \
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4, \
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{ { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_actuator_controls_t, time_usec) }, \
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{ "controls", NULL, MAVLINK_TYPE_FLOAT, 16, 16, offsetof(mavlink_hil_actuator_controls_t, controls) }, \
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{ "mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 80, offsetof(mavlink_hil_actuator_controls_t, mode) }, \
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{ "flags", NULL, MAVLINK_TYPE_UINT64_T, 0, 8, offsetof(mavlink_hil_actuator_controls_t, flags) }, \
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} \
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}
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#endif
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/**
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* @brief Pack a hil_actuator_controls 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_usec [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
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* @param controls Control outputs -1 .. 1. Channel assignment depends on the simulated hardware.
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* @param mode System mode. Includes arming state.
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* @param flags Flags as bitfield, 1: indicate simulation using lockstep.
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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_hil_actuator_controls_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint64_t time_usec, const float *controls, uint8_t mode, uint64_t flags)
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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_HIL_ACTUATOR_CONTROLS_LEN];
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_uint64_t(buf, 8, flags);
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_mav_put_uint8_t(buf, 80, mode);
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_mav_put_float_array(buf, 16, controls, 16);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN);
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#else
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mavlink_hil_actuator_controls_t packet;
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packet.time_usec = time_usec;
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packet.flags = flags;
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packet.mode = mode;
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mav_array_memcpy(packet.controls, controls, sizeof(float)*16);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_MIN_LEN, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_CRC);
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}
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/**
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* @brief Pack a hil_actuator_controls 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_usec [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
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* @param controls Control outputs -1 .. 1. Channel assignment depends on the simulated hardware.
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* @param mode System mode. Includes arming state.
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* @param flags Flags as bitfield, 1: indicate simulation using lockstep.
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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_hil_actuator_controls_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
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mavlink_message_t* msg,
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uint64_t time_usec,const float *controls,uint8_t mode,uint64_t flags)
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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_HIL_ACTUATOR_CONTROLS_LEN];
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_uint64_t(buf, 8, flags);
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_mav_put_uint8_t(buf, 80, mode);
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_mav_put_float_array(buf, 16, controls, 16);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN);
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#else
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mavlink_hil_actuator_controls_t packet;
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packet.time_usec = time_usec;
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packet.flags = flags;
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packet.mode = mode;
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mav_array_memcpy(packet.controls, controls, sizeof(float)*16);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_MIN_LEN, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_CRC);
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}
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/**
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* @brief Encode a hil_actuator_controls 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 hil_actuator_controls C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_hil_actuator_controls_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hil_actuator_controls_t* hil_actuator_controls)
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{
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return mavlink_msg_hil_actuator_controls_pack(system_id, component_id, msg, hil_actuator_controls->time_usec, hil_actuator_controls->controls, hil_actuator_controls->mode, hil_actuator_controls->flags);
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}
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/**
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* @brief Encode a hil_actuator_controls 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 hil_actuator_controls C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_hil_actuator_controls_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_hil_actuator_controls_t* hil_actuator_controls)
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{
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return mavlink_msg_hil_actuator_controls_pack_chan(system_id, component_id, chan, msg, hil_actuator_controls->time_usec, hil_actuator_controls->controls, hil_actuator_controls->mode, hil_actuator_controls->flags);
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}
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/**
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* @brief Send a hil_actuator_controls message
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* @param chan MAVLink channel to send the message
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*
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* @param time_usec [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
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* @param controls Control outputs -1 .. 1. Channel assignment depends on the simulated hardware.
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* @param mode System mode. Includes arming state.
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* @param flags Flags as bitfield, 1: indicate simulation using lockstep.
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_hil_actuator_controls_send(mavlink_channel_t chan, uint64_t time_usec, const float *controls, uint8_t mode, uint64_t flags)
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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_HIL_ACTUATOR_CONTROLS_LEN];
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_uint64_t(buf, 8, flags);
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_mav_put_uint8_t(buf, 80, mode);
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_mav_put_float_array(buf, 16, controls, 16);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS, buf, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_MIN_LEN, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_CRC);
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#else
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mavlink_hil_actuator_controls_t packet;
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packet.time_usec = time_usec;
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packet.flags = flags;
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packet.mode = mode;
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mav_array_memcpy(packet.controls, controls, sizeof(float)*16);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS, (const char *)&packet, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_MIN_LEN, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_CRC);
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#endif
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}
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/**
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* @brief Send a hil_actuator_controls 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_hil_actuator_controls_send_struct(mavlink_channel_t chan, const mavlink_hil_actuator_controls_t* hil_actuator_controls)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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mavlink_msg_hil_actuator_controls_send(chan, hil_actuator_controls->time_usec, hil_actuator_controls->controls, hil_actuator_controls->mode, hil_actuator_controls->flags);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS, (const char *)hil_actuator_controls, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_MIN_LEN, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_CRC);
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#endif
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}
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#if MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_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_hil_actuator_controls_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_usec, const float *controls, uint8_t mode, uint64_t flags)
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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_uint64_t(buf, 0, time_usec);
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_mav_put_uint64_t(buf, 8, flags);
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_mav_put_uint8_t(buf, 80, mode);
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_mav_put_float_array(buf, 16, controls, 16);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS, buf, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_MIN_LEN, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_CRC);
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#else
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mavlink_hil_actuator_controls_t *packet = (mavlink_hil_actuator_controls_t *)msgbuf;
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packet->time_usec = time_usec;
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packet->flags = flags;
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packet->mode = mode;
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mav_array_memcpy(packet->controls, controls, sizeof(float)*16);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS, (const char *)packet, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_MIN_LEN, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_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 HIL_ACTUATOR_CONTROLS UNPACKING
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/**
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* @brief Get field time_usec from hil_actuator_controls message
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*
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* @return [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
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*/
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static inline uint64_t mavlink_msg_hil_actuator_controls_get_time_usec(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint64_t(msg, 0);
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}
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/**
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* @brief Get field controls from hil_actuator_controls message
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*
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* @return Control outputs -1 .. 1. Channel assignment depends on the simulated hardware.
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*/
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static inline uint16_t mavlink_msg_hil_actuator_controls_get_controls(const mavlink_message_t* msg, float *controls)
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{
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return _MAV_RETURN_float_array(msg, controls, 16, 16);
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}
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/**
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* @brief Get field mode from hil_actuator_controls message
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*
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* @return System mode. Includes arming state.
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*/
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static inline uint8_t mavlink_msg_hil_actuator_controls_get_mode(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 80);
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}
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/**
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* @brief Get field flags from hil_actuator_controls message
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*
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* @return Flags as bitfield, 1: indicate simulation using lockstep.
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*/
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static inline uint64_t mavlink_msg_hil_actuator_controls_get_flags(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint64_t(msg, 8);
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}
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/**
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* @brief Decode a hil_actuator_controls message into a struct
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*
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* @param msg The message to decode
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* @param hil_actuator_controls C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_hil_actuator_controls_decode(const mavlink_message_t* msg, mavlink_hil_actuator_controls_t* hil_actuator_controls)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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hil_actuator_controls->time_usec = mavlink_msg_hil_actuator_controls_get_time_usec(msg);
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hil_actuator_controls->flags = mavlink_msg_hil_actuator_controls_get_flags(msg);
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mavlink_msg_hil_actuator_controls_get_controls(msg, hil_actuator_controls->controls);
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hil_actuator_controls->mode = mavlink_msg_hil_actuator_controls_get_mode(msg);
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#else
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uint8_t len = msg->len < MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN? msg->len : MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN;
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memset(hil_actuator_controls, 0, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN);
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memcpy(hil_actuator_controls, _MAV_PAYLOAD(msg), len);
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#endif
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}
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