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
289 lines
12 KiB
C
289 lines
12 KiB
C
#pragma once
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// MESSAGE CONTROL_SURFACE PACKING
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#define MAVLINK_MSG_ID_CONTROL_SURFACE 185
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MAVPACKED(
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typedef struct __mavlink_control_surface_t {
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float mControl; /*< Pending*/
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float bControl; /*< Order to origin*/
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uint8_t target; /*< The system setting the commands*/
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uint8_t idSurface; /*< ID control surface send 0: throttle 1: aileron 2: elevator 3: rudder*/
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}) mavlink_control_surface_t;
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#define MAVLINK_MSG_ID_CONTROL_SURFACE_LEN 10
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#define MAVLINK_MSG_ID_CONTROL_SURFACE_MIN_LEN 10
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#define MAVLINK_MSG_ID_185_LEN 10
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#define MAVLINK_MSG_ID_185_MIN_LEN 10
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#define MAVLINK_MSG_ID_CONTROL_SURFACE_CRC 113
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#define MAVLINK_MSG_ID_185_CRC 113
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_CONTROL_SURFACE { \
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185, \
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"CONTROL_SURFACE", \
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4, \
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{ { "target", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_control_surface_t, target) }, \
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{ "idSurface", NULL, MAVLINK_TYPE_UINT8_T, 0, 9, offsetof(mavlink_control_surface_t, idSurface) }, \
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{ "mControl", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_control_surface_t, mControl) }, \
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{ "bControl", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_control_surface_t, bControl) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_CONTROL_SURFACE { \
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"CONTROL_SURFACE", \
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4, \
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{ { "target", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_control_surface_t, target) }, \
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{ "idSurface", NULL, MAVLINK_TYPE_UINT8_T, 0, 9, offsetof(mavlink_control_surface_t, idSurface) }, \
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{ "mControl", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_control_surface_t, mControl) }, \
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{ "bControl", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_control_surface_t, bControl) }, \
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} \
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}
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#endif
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/**
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* @brief Pack a control_surface 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 target The system setting the commands
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* @param idSurface ID control surface send 0: throttle 1: aileron 2: elevator 3: rudder
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* @param mControl Pending
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* @param bControl Order to origin
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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_control_surface_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint8_t target, uint8_t idSurface, float mControl, float bControl)
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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_CONTROL_SURFACE_LEN];
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_mav_put_float(buf, 0, mControl);
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_mav_put_float(buf, 4, bControl);
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_mav_put_uint8_t(buf, 8, target);
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_mav_put_uint8_t(buf, 9, idSurface);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_CONTROL_SURFACE_LEN);
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#else
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mavlink_control_surface_t packet;
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packet.mControl = mControl;
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packet.bControl = bControl;
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packet.target = target;
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packet.idSurface = idSurface;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_CONTROL_SURFACE_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_CONTROL_SURFACE;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_CONTROL_SURFACE_MIN_LEN, MAVLINK_MSG_ID_CONTROL_SURFACE_LEN, MAVLINK_MSG_ID_CONTROL_SURFACE_CRC);
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}
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/**
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* @brief Pack a control_surface 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 target The system setting the commands
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* @param idSurface ID control surface send 0: throttle 1: aileron 2: elevator 3: rudder
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* @param mControl Pending
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* @param bControl Order to origin
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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_control_surface_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
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mavlink_message_t* msg,
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uint8_t target,uint8_t idSurface,float mControl,float bControl)
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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_CONTROL_SURFACE_LEN];
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_mav_put_float(buf, 0, mControl);
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_mav_put_float(buf, 4, bControl);
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_mav_put_uint8_t(buf, 8, target);
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_mav_put_uint8_t(buf, 9, idSurface);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_CONTROL_SURFACE_LEN);
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#else
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mavlink_control_surface_t packet;
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packet.mControl = mControl;
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packet.bControl = bControl;
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packet.target = target;
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packet.idSurface = idSurface;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_CONTROL_SURFACE_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_CONTROL_SURFACE;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_CONTROL_SURFACE_MIN_LEN, MAVLINK_MSG_ID_CONTROL_SURFACE_LEN, MAVLINK_MSG_ID_CONTROL_SURFACE_CRC);
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}
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/**
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* @brief Encode a control_surface 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 control_surface C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_control_surface_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_control_surface_t* control_surface)
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{
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return mavlink_msg_control_surface_pack(system_id, component_id, msg, control_surface->target, control_surface->idSurface, control_surface->mControl, control_surface->bControl);
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}
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/**
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* @brief Encode a control_surface 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 control_surface C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_control_surface_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_control_surface_t* control_surface)
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{
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return mavlink_msg_control_surface_pack_chan(system_id, component_id, chan, msg, control_surface->target, control_surface->idSurface, control_surface->mControl, control_surface->bControl);
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}
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/**
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* @brief Send a control_surface message
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* @param chan MAVLink channel to send the message
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*
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* @param target The system setting the commands
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* @param idSurface ID control surface send 0: throttle 1: aileron 2: elevator 3: rudder
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* @param mControl Pending
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* @param bControl Order to origin
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_control_surface_send(mavlink_channel_t chan, uint8_t target, uint8_t idSurface, float mControl, float bControl)
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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_CONTROL_SURFACE_LEN];
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_mav_put_float(buf, 0, mControl);
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_mav_put_float(buf, 4, bControl);
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_mav_put_uint8_t(buf, 8, target);
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_mav_put_uint8_t(buf, 9, idSurface);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CONTROL_SURFACE, buf, MAVLINK_MSG_ID_CONTROL_SURFACE_MIN_LEN, MAVLINK_MSG_ID_CONTROL_SURFACE_LEN, MAVLINK_MSG_ID_CONTROL_SURFACE_CRC);
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#else
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mavlink_control_surface_t packet;
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packet.mControl = mControl;
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packet.bControl = bControl;
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packet.target = target;
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packet.idSurface = idSurface;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CONTROL_SURFACE, (const char *)&packet, MAVLINK_MSG_ID_CONTROL_SURFACE_MIN_LEN, MAVLINK_MSG_ID_CONTROL_SURFACE_LEN, MAVLINK_MSG_ID_CONTROL_SURFACE_CRC);
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#endif
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}
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/**
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* @brief Send a control_surface 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_control_surface_send_struct(mavlink_channel_t chan, const mavlink_control_surface_t* control_surface)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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mavlink_msg_control_surface_send(chan, control_surface->target, control_surface->idSurface, control_surface->mControl, control_surface->bControl);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CONTROL_SURFACE, (const char *)control_surface, MAVLINK_MSG_ID_CONTROL_SURFACE_MIN_LEN, MAVLINK_MSG_ID_CONTROL_SURFACE_LEN, MAVLINK_MSG_ID_CONTROL_SURFACE_CRC);
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#endif
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}
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#if MAVLINK_MSG_ID_CONTROL_SURFACE_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_control_surface_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target, uint8_t idSurface, float mControl, float bControl)
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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, mControl);
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_mav_put_float(buf, 4, bControl);
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_mav_put_uint8_t(buf, 8, target);
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_mav_put_uint8_t(buf, 9, idSurface);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CONTROL_SURFACE, buf, MAVLINK_MSG_ID_CONTROL_SURFACE_MIN_LEN, MAVLINK_MSG_ID_CONTROL_SURFACE_LEN, MAVLINK_MSG_ID_CONTROL_SURFACE_CRC);
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#else
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mavlink_control_surface_t *packet = (mavlink_control_surface_t *)msgbuf;
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packet->mControl = mControl;
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packet->bControl = bControl;
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packet->target = target;
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packet->idSurface = idSurface;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CONTROL_SURFACE, (const char *)packet, MAVLINK_MSG_ID_CONTROL_SURFACE_MIN_LEN, MAVLINK_MSG_ID_CONTROL_SURFACE_LEN, MAVLINK_MSG_ID_CONTROL_SURFACE_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 CONTROL_SURFACE UNPACKING
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/**
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* @brief Get field target from control_surface message
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*
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* @return The system setting the commands
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*/
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static inline uint8_t mavlink_msg_control_surface_get_target(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 8);
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}
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/**
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* @brief Get field idSurface from control_surface message
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*
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* @return ID control surface send 0: throttle 1: aileron 2: elevator 3: rudder
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*/
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static inline uint8_t mavlink_msg_control_surface_get_idSurface(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 9);
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}
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/**
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* @brief Get field mControl from control_surface message
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*
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* @return Pending
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*/
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static inline float mavlink_msg_control_surface_get_mControl(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 bControl from control_surface message
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*
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* @return Order to origin
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*/
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static inline float mavlink_msg_control_surface_get_bControl(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 Decode a control_surface message into a struct
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*
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* @param msg The message to decode
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* @param control_surface C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_control_surface_decode(const mavlink_message_t* msg, mavlink_control_surface_t* control_surface)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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control_surface->mControl = mavlink_msg_control_surface_get_mControl(msg);
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control_surface->bControl = mavlink_msg_control_surface_get_bControl(msg);
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control_surface->target = mavlink_msg_control_surface_get_target(msg);
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control_surface->idSurface = mavlink_msg_control_surface_get_idSurface(msg);
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#else
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uint8_t len = msg->len < MAVLINK_MSG_ID_CONTROL_SURFACE_LEN? msg->len : MAVLINK_MSG_ID_CONTROL_SURFACE_LEN;
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memset(control_surface, 0, MAVLINK_MSG_ID_CONTROL_SURFACE_LEN);
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memcpy(control_surface, _MAV_PAYLOAD(msg), len);
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#endif
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}
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