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
11 KiB
C
289 lines
11 KiB
C
#pragma once
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// MESSAGE MID_LVL_CMDS PACKING
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#define MAVLINK_MSG_ID_MID_LVL_CMDS 180
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MAVPACKED(
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typedef struct __mavlink_mid_lvl_cmds_t {
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float hCommand; /*< [m] Commanded altitude (MSL)*/
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float uCommand; /*< [m/s] Commanded Airspeed*/
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float rCommand; /*< [rad/s] Commanded Turnrate*/
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uint8_t target; /*< The system setting the commands*/
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}) mavlink_mid_lvl_cmds_t;
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#define MAVLINK_MSG_ID_MID_LVL_CMDS_LEN 13
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#define MAVLINK_MSG_ID_MID_LVL_CMDS_MIN_LEN 13
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#define MAVLINK_MSG_ID_180_LEN 13
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#define MAVLINK_MSG_ID_180_MIN_LEN 13
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#define MAVLINK_MSG_ID_MID_LVL_CMDS_CRC 146
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#define MAVLINK_MSG_ID_180_CRC 146
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_MID_LVL_CMDS { \
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180, \
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"MID_LVL_CMDS", \
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4, \
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{ { "target", NULL, MAVLINK_TYPE_UINT8_T, 0, 12, offsetof(mavlink_mid_lvl_cmds_t, target) }, \
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{ "hCommand", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_mid_lvl_cmds_t, hCommand) }, \
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{ "uCommand", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_mid_lvl_cmds_t, uCommand) }, \
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{ "rCommand", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_mid_lvl_cmds_t, rCommand) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_MID_LVL_CMDS { \
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"MID_LVL_CMDS", \
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4, \
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{ { "target", NULL, MAVLINK_TYPE_UINT8_T, 0, 12, offsetof(mavlink_mid_lvl_cmds_t, target) }, \
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{ "hCommand", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_mid_lvl_cmds_t, hCommand) }, \
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{ "uCommand", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_mid_lvl_cmds_t, uCommand) }, \
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{ "rCommand", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_mid_lvl_cmds_t, rCommand) }, \
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} \
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}
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#endif
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/**
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* @brief Pack a mid_lvl_cmds 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 hCommand [m] Commanded altitude (MSL)
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* @param uCommand [m/s] Commanded Airspeed
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* @param rCommand [rad/s] Commanded Turnrate
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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_mid_lvl_cmds_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint8_t target, float hCommand, float uCommand, float rCommand)
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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_MID_LVL_CMDS_LEN];
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_mav_put_float(buf, 0, hCommand);
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_mav_put_float(buf, 4, uCommand);
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_mav_put_float(buf, 8, rCommand);
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_mav_put_uint8_t(buf, 12, target);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MID_LVL_CMDS_LEN);
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#else
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mavlink_mid_lvl_cmds_t packet;
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packet.hCommand = hCommand;
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packet.uCommand = uCommand;
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packet.rCommand = rCommand;
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packet.target = target;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MID_LVL_CMDS_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_MID_LVL_CMDS;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_MID_LVL_CMDS_MIN_LEN, MAVLINK_MSG_ID_MID_LVL_CMDS_LEN, MAVLINK_MSG_ID_MID_LVL_CMDS_CRC);
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}
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/**
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* @brief Pack a mid_lvl_cmds 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 hCommand [m] Commanded altitude (MSL)
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* @param uCommand [m/s] Commanded Airspeed
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* @param rCommand [rad/s] Commanded Turnrate
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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_mid_lvl_cmds_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,float hCommand,float uCommand,float rCommand)
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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_MID_LVL_CMDS_LEN];
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_mav_put_float(buf, 0, hCommand);
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_mav_put_float(buf, 4, uCommand);
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_mav_put_float(buf, 8, rCommand);
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_mav_put_uint8_t(buf, 12, target);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MID_LVL_CMDS_LEN);
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#else
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mavlink_mid_lvl_cmds_t packet;
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packet.hCommand = hCommand;
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packet.uCommand = uCommand;
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packet.rCommand = rCommand;
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packet.target = target;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MID_LVL_CMDS_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_MID_LVL_CMDS;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_MID_LVL_CMDS_MIN_LEN, MAVLINK_MSG_ID_MID_LVL_CMDS_LEN, MAVLINK_MSG_ID_MID_LVL_CMDS_CRC);
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}
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/**
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* @brief Encode a mid_lvl_cmds 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 mid_lvl_cmds C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_mid_lvl_cmds_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_mid_lvl_cmds_t* mid_lvl_cmds)
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{
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return mavlink_msg_mid_lvl_cmds_pack(system_id, component_id, msg, mid_lvl_cmds->target, mid_lvl_cmds->hCommand, mid_lvl_cmds->uCommand, mid_lvl_cmds->rCommand);
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}
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/**
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* @brief Encode a mid_lvl_cmds 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 mid_lvl_cmds C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_mid_lvl_cmds_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_mid_lvl_cmds_t* mid_lvl_cmds)
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{
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return mavlink_msg_mid_lvl_cmds_pack_chan(system_id, component_id, chan, msg, mid_lvl_cmds->target, mid_lvl_cmds->hCommand, mid_lvl_cmds->uCommand, mid_lvl_cmds->rCommand);
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}
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/**
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* @brief Send a mid_lvl_cmds 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 hCommand [m] Commanded altitude (MSL)
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* @param uCommand [m/s] Commanded Airspeed
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* @param rCommand [rad/s] Commanded Turnrate
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_mid_lvl_cmds_send(mavlink_channel_t chan, uint8_t target, float hCommand, float uCommand, float rCommand)
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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_MID_LVL_CMDS_LEN];
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_mav_put_float(buf, 0, hCommand);
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_mav_put_float(buf, 4, uCommand);
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_mav_put_float(buf, 8, rCommand);
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_mav_put_uint8_t(buf, 12, target);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MID_LVL_CMDS, buf, MAVLINK_MSG_ID_MID_LVL_CMDS_MIN_LEN, MAVLINK_MSG_ID_MID_LVL_CMDS_LEN, MAVLINK_MSG_ID_MID_LVL_CMDS_CRC);
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#else
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mavlink_mid_lvl_cmds_t packet;
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packet.hCommand = hCommand;
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packet.uCommand = uCommand;
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packet.rCommand = rCommand;
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packet.target = target;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MID_LVL_CMDS, (const char *)&packet, MAVLINK_MSG_ID_MID_LVL_CMDS_MIN_LEN, MAVLINK_MSG_ID_MID_LVL_CMDS_LEN, MAVLINK_MSG_ID_MID_LVL_CMDS_CRC);
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#endif
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}
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/**
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* @brief Send a mid_lvl_cmds 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_mid_lvl_cmds_send_struct(mavlink_channel_t chan, const mavlink_mid_lvl_cmds_t* mid_lvl_cmds)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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mavlink_msg_mid_lvl_cmds_send(chan, mid_lvl_cmds->target, mid_lvl_cmds->hCommand, mid_lvl_cmds->uCommand, mid_lvl_cmds->rCommand);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MID_LVL_CMDS, (const char *)mid_lvl_cmds, MAVLINK_MSG_ID_MID_LVL_CMDS_MIN_LEN, MAVLINK_MSG_ID_MID_LVL_CMDS_LEN, MAVLINK_MSG_ID_MID_LVL_CMDS_CRC);
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#endif
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}
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#if MAVLINK_MSG_ID_MID_LVL_CMDS_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_mid_lvl_cmds_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target, float hCommand, float uCommand, float rCommand)
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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, hCommand);
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_mav_put_float(buf, 4, uCommand);
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_mav_put_float(buf, 8, rCommand);
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_mav_put_uint8_t(buf, 12, target);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MID_LVL_CMDS, buf, MAVLINK_MSG_ID_MID_LVL_CMDS_MIN_LEN, MAVLINK_MSG_ID_MID_LVL_CMDS_LEN, MAVLINK_MSG_ID_MID_LVL_CMDS_CRC);
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#else
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mavlink_mid_lvl_cmds_t *packet = (mavlink_mid_lvl_cmds_t *)msgbuf;
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packet->hCommand = hCommand;
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packet->uCommand = uCommand;
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packet->rCommand = rCommand;
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packet->target = target;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MID_LVL_CMDS, (const char *)packet, MAVLINK_MSG_ID_MID_LVL_CMDS_MIN_LEN, MAVLINK_MSG_ID_MID_LVL_CMDS_LEN, MAVLINK_MSG_ID_MID_LVL_CMDS_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 MID_LVL_CMDS UNPACKING
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/**
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* @brief Get field target from mid_lvl_cmds 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_mid_lvl_cmds_get_target(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 12);
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}
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/**
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* @brief Get field hCommand from mid_lvl_cmds message
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*
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* @return [m] Commanded altitude (MSL)
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*/
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static inline float mavlink_msg_mid_lvl_cmds_get_hCommand(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 uCommand from mid_lvl_cmds message
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*
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* @return [m/s] Commanded Airspeed
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*/
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static inline float mavlink_msg_mid_lvl_cmds_get_uCommand(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 rCommand from mid_lvl_cmds message
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*
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* @return [rad/s] Commanded Turnrate
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*/
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static inline float mavlink_msg_mid_lvl_cmds_get_rCommand(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 Decode a mid_lvl_cmds message into a struct
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*
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* @param msg The message to decode
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* @param mid_lvl_cmds C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_mid_lvl_cmds_decode(const mavlink_message_t* msg, mavlink_mid_lvl_cmds_t* mid_lvl_cmds)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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mid_lvl_cmds->hCommand = mavlink_msg_mid_lvl_cmds_get_hCommand(msg);
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mid_lvl_cmds->uCommand = mavlink_msg_mid_lvl_cmds_get_uCommand(msg);
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mid_lvl_cmds->rCommand = mavlink_msg_mid_lvl_cmds_get_rCommand(msg);
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mid_lvl_cmds->target = mavlink_msg_mid_lvl_cmds_get_target(msg);
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#else
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uint8_t len = msg->len < MAVLINK_MSG_ID_MID_LVL_CMDS_LEN? msg->len : MAVLINK_MSG_ID_MID_LVL_CMDS_LEN;
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memset(mid_lvl_cmds, 0, MAVLINK_MSG_ID_MID_LVL_CMDS_LEN);
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memcpy(mid_lvl_cmds, _MAV_PAYLOAD(msg), len);
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#endif
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}
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