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
439 lines
18 KiB
C
439 lines
18 KiB
C
#pragma once
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// MESSAGE SLUGS_NAVIGATION PACKING
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#define MAVLINK_MSG_ID_SLUGS_NAVIGATION 176
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MAVPACKED(
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typedef struct __mavlink_slugs_navigation_t {
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float u_m; /*< [m/s] Measured Airspeed prior to the nav filter*/
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float phi_c; /*< Commanded Roll*/
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float theta_c; /*< Commanded Pitch*/
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float psiDot_c; /*< Commanded Turn rate*/
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float ay_body; /*< Y component of the body acceleration*/
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float totalDist; /*< Total Distance to Run on this leg of Navigation*/
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float dist2Go; /*< Remaining distance to Run on this leg of Navigation*/
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uint16_t h_c; /*< [dm] Commanded altitude (MSL)*/
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uint8_t fromWP; /*< Origin WP*/
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uint8_t toWP; /*< Destination WP*/
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}) mavlink_slugs_navigation_t;
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#define MAVLINK_MSG_ID_SLUGS_NAVIGATION_LEN 32
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#define MAVLINK_MSG_ID_SLUGS_NAVIGATION_MIN_LEN 32
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#define MAVLINK_MSG_ID_176_LEN 32
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#define MAVLINK_MSG_ID_176_MIN_LEN 32
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#define MAVLINK_MSG_ID_SLUGS_NAVIGATION_CRC 228
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#define MAVLINK_MSG_ID_176_CRC 228
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_SLUGS_NAVIGATION { \
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176, \
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"SLUGS_NAVIGATION", \
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10, \
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{ { "u_m", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_slugs_navigation_t, u_m) }, \
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{ "phi_c", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_slugs_navigation_t, phi_c) }, \
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{ "theta_c", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_slugs_navigation_t, theta_c) }, \
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{ "psiDot_c", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_slugs_navigation_t, psiDot_c) }, \
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{ "ay_body", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_slugs_navigation_t, ay_body) }, \
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{ "totalDist", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_slugs_navigation_t, totalDist) }, \
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{ "dist2Go", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_slugs_navigation_t, dist2Go) }, \
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{ "fromWP", NULL, MAVLINK_TYPE_UINT8_T, 0, 30, offsetof(mavlink_slugs_navigation_t, fromWP) }, \
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{ "toWP", NULL, MAVLINK_TYPE_UINT8_T, 0, 31, offsetof(mavlink_slugs_navigation_t, toWP) }, \
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{ "h_c", NULL, MAVLINK_TYPE_UINT16_T, 0, 28, offsetof(mavlink_slugs_navigation_t, h_c) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_SLUGS_NAVIGATION { \
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"SLUGS_NAVIGATION", \
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10, \
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{ { "u_m", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_slugs_navigation_t, u_m) }, \
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{ "phi_c", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_slugs_navigation_t, phi_c) }, \
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{ "theta_c", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_slugs_navigation_t, theta_c) }, \
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{ "psiDot_c", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_slugs_navigation_t, psiDot_c) }, \
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{ "ay_body", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_slugs_navigation_t, ay_body) }, \
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{ "totalDist", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_slugs_navigation_t, totalDist) }, \
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{ "dist2Go", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_slugs_navigation_t, dist2Go) }, \
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{ "fromWP", NULL, MAVLINK_TYPE_UINT8_T, 0, 30, offsetof(mavlink_slugs_navigation_t, fromWP) }, \
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{ "toWP", NULL, MAVLINK_TYPE_UINT8_T, 0, 31, offsetof(mavlink_slugs_navigation_t, toWP) }, \
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{ "h_c", NULL, MAVLINK_TYPE_UINT16_T, 0, 28, offsetof(mavlink_slugs_navigation_t, h_c) }, \
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} \
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}
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#endif
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/**
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* @brief Pack a slugs_navigation 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 u_m [m/s] Measured Airspeed prior to the nav filter
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* @param phi_c Commanded Roll
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* @param theta_c Commanded Pitch
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* @param psiDot_c Commanded Turn rate
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* @param ay_body Y component of the body acceleration
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* @param totalDist Total Distance to Run on this leg of Navigation
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* @param dist2Go Remaining distance to Run on this leg of Navigation
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* @param fromWP Origin WP
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* @param toWP Destination WP
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* @param h_c [dm] Commanded altitude (MSL)
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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_slugs_navigation_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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float u_m, float phi_c, float theta_c, float psiDot_c, float ay_body, float totalDist, float dist2Go, uint8_t fromWP, uint8_t toWP, uint16_t h_c)
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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_SLUGS_NAVIGATION_LEN];
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_mav_put_float(buf, 0, u_m);
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_mav_put_float(buf, 4, phi_c);
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_mav_put_float(buf, 8, theta_c);
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_mav_put_float(buf, 12, psiDot_c);
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_mav_put_float(buf, 16, ay_body);
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_mav_put_float(buf, 20, totalDist);
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_mav_put_float(buf, 24, dist2Go);
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_mav_put_uint16_t(buf, 28, h_c);
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_mav_put_uint8_t(buf, 30, fromWP);
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_mav_put_uint8_t(buf, 31, toWP);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SLUGS_NAVIGATION_LEN);
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#else
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mavlink_slugs_navigation_t packet;
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packet.u_m = u_m;
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packet.phi_c = phi_c;
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packet.theta_c = theta_c;
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packet.psiDot_c = psiDot_c;
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packet.ay_body = ay_body;
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packet.totalDist = totalDist;
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packet.dist2Go = dist2Go;
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packet.h_c = h_c;
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packet.fromWP = fromWP;
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packet.toWP = toWP;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SLUGS_NAVIGATION_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_SLUGS_NAVIGATION;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SLUGS_NAVIGATION_MIN_LEN, MAVLINK_MSG_ID_SLUGS_NAVIGATION_LEN, MAVLINK_MSG_ID_SLUGS_NAVIGATION_CRC);
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}
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/**
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* @brief Pack a slugs_navigation 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 u_m [m/s] Measured Airspeed prior to the nav filter
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* @param phi_c Commanded Roll
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* @param theta_c Commanded Pitch
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* @param psiDot_c Commanded Turn rate
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* @param ay_body Y component of the body acceleration
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* @param totalDist Total Distance to Run on this leg of Navigation
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* @param dist2Go Remaining distance to Run on this leg of Navigation
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* @param fromWP Origin WP
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* @param toWP Destination WP
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* @param h_c [dm] Commanded altitude (MSL)
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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_slugs_navigation_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 u_m,float phi_c,float theta_c,float psiDot_c,float ay_body,float totalDist,float dist2Go,uint8_t fromWP,uint8_t toWP,uint16_t h_c)
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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_SLUGS_NAVIGATION_LEN];
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_mav_put_float(buf, 0, u_m);
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_mav_put_float(buf, 4, phi_c);
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_mav_put_float(buf, 8, theta_c);
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_mav_put_float(buf, 12, psiDot_c);
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_mav_put_float(buf, 16, ay_body);
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_mav_put_float(buf, 20, totalDist);
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_mav_put_float(buf, 24, dist2Go);
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_mav_put_uint16_t(buf, 28, h_c);
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_mav_put_uint8_t(buf, 30, fromWP);
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_mav_put_uint8_t(buf, 31, toWP);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SLUGS_NAVIGATION_LEN);
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#else
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mavlink_slugs_navigation_t packet;
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packet.u_m = u_m;
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packet.phi_c = phi_c;
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packet.theta_c = theta_c;
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packet.psiDot_c = psiDot_c;
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packet.ay_body = ay_body;
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packet.totalDist = totalDist;
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packet.dist2Go = dist2Go;
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packet.h_c = h_c;
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packet.fromWP = fromWP;
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packet.toWP = toWP;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SLUGS_NAVIGATION_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_SLUGS_NAVIGATION;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SLUGS_NAVIGATION_MIN_LEN, MAVLINK_MSG_ID_SLUGS_NAVIGATION_LEN, MAVLINK_MSG_ID_SLUGS_NAVIGATION_CRC);
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}
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/**
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* @brief Encode a slugs_navigation 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 slugs_navigation C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_slugs_navigation_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_slugs_navigation_t* slugs_navigation)
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{
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return mavlink_msg_slugs_navigation_pack(system_id, component_id, msg, slugs_navigation->u_m, slugs_navigation->phi_c, slugs_navigation->theta_c, slugs_navigation->psiDot_c, slugs_navigation->ay_body, slugs_navigation->totalDist, slugs_navigation->dist2Go, slugs_navigation->fromWP, slugs_navigation->toWP, slugs_navigation->h_c);
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}
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/**
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* @brief Encode a slugs_navigation 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 slugs_navigation C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_slugs_navigation_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_slugs_navigation_t* slugs_navigation)
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{
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return mavlink_msg_slugs_navigation_pack_chan(system_id, component_id, chan, msg, slugs_navigation->u_m, slugs_navigation->phi_c, slugs_navigation->theta_c, slugs_navigation->psiDot_c, slugs_navigation->ay_body, slugs_navigation->totalDist, slugs_navigation->dist2Go, slugs_navigation->fromWP, slugs_navigation->toWP, slugs_navigation->h_c);
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}
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/**
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* @brief Send a slugs_navigation message
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* @param chan MAVLink channel to send the message
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*
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* @param u_m [m/s] Measured Airspeed prior to the nav filter
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* @param phi_c Commanded Roll
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* @param theta_c Commanded Pitch
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* @param psiDot_c Commanded Turn rate
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* @param ay_body Y component of the body acceleration
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* @param totalDist Total Distance to Run on this leg of Navigation
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* @param dist2Go Remaining distance to Run on this leg of Navigation
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* @param fromWP Origin WP
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* @param toWP Destination WP
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* @param h_c [dm] Commanded altitude (MSL)
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_slugs_navigation_send(mavlink_channel_t chan, float u_m, float phi_c, float theta_c, float psiDot_c, float ay_body, float totalDist, float dist2Go, uint8_t fromWP, uint8_t toWP, uint16_t h_c)
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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_SLUGS_NAVIGATION_LEN];
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_mav_put_float(buf, 0, u_m);
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_mav_put_float(buf, 4, phi_c);
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_mav_put_float(buf, 8, theta_c);
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_mav_put_float(buf, 12, psiDot_c);
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_mav_put_float(buf, 16, ay_body);
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_mav_put_float(buf, 20, totalDist);
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_mav_put_float(buf, 24, dist2Go);
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_mav_put_uint16_t(buf, 28, h_c);
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_mav_put_uint8_t(buf, 30, fromWP);
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_mav_put_uint8_t(buf, 31, toWP);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SLUGS_NAVIGATION, buf, MAVLINK_MSG_ID_SLUGS_NAVIGATION_MIN_LEN, MAVLINK_MSG_ID_SLUGS_NAVIGATION_LEN, MAVLINK_MSG_ID_SLUGS_NAVIGATION_CRC);
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#else
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mavlink_slugs_navigation_t packet;
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packet.u_m = u_m;
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packet.phi_c = phi_c;
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packet.theta_c = theta_c;
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packet.psiDot_c = psiDot_c;
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packet.ay_body = ay_body;
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packet.totalDist = totalDist;
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packet.dist2Go = dist2Go;
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packet.h_c = h_c;
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packet.fromWP = fromWP;
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packet.toWP = toWP;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SLUGS_NAVIGATION, (const char *)&packet, MAVLINK_MSG_ID_SLUGS_NAVIGATION_MIN_LEN, MAVLINK_MSG_ID_SLUGS_NAVIGATION_LEN, MAVLINK_MSG_ID_SLUGS_NAVIGATION_CRC);
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#endif
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}
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/**
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* @brief Send a slugs_navigation 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_slugs_navigation_send_struct(mavlink_channel_t chan, const mavlink_slugs_navigation_t* slugs_navigation)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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mavlink_msg_slugs_navigation_send(chan, slugs_navigation->u_m, slugs_navigation->phi_c, slugs_navigation->theta_c, slugs_navigation->psiDot_c, slugs_navigation->ay_body, slugs_navigation->totalDist, slugs_navigation->dist2Go, slugs_navigation->fromWP, slugs_navigation->toWP, slugs_navigation->h_c);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SLUGS_NAVIGATION, (const char *)slugs_navigation, MAVLINK_MSG_ID_SLUGS_NAVIGATION_MIN_LEN, MAVLINK_MSG_ID_SLUGS_NAVIGATION_LEN, MAVLINK_MSG_ID_SLUGS_NAVIGATION_CRC);
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#endif
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}
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#if MAVLINK_MSG_ID_SLUGS_NAVIGATION_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_slugs_navigation_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, float u_m, float phi_c, float theta_c, float psiDot_c, float ay_body, float totalDist, float dist2Go, uint8_t fromWP, uint8_t toWP, uint16_t h_c)
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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, u_m);
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_mav_put_float(buf, 4, phi_c);
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_mav_put_float(buf, 8, theta_c);
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_mav_put_float(buf, 12, psiDot_c);
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_mav_put_float(buf, 16, ay_body);
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_mav_put_float(buf, 20, totalDist);
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_mav_put_float(buf, 24, dist2Go);
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_mav_put_uint16_t(buf, 28, h_c);
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_mav_put_uint8_t(buf, 30, fromWP);
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_mav_put_uint8_t(buf, 31, toWP);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SLUGS_NAVIGATION, buf, MAVLINK_MSG_ID_SLUGS_NAVIGATION_MIN_LEN, MAVLINK_MSG_ID_SLUGS_NAVIGATION_LEN, MAVLINK_MSG_ID_SLUGS_NAVIGATION_CRC);
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#else
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mavlink_slugs_navigation_t *packet = (mavlink_slugs_navigation_t *)msgbuf;
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packet->u_m = u_m;
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packet->phi_c = phi_c;
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packet->theta_c = theta_c;
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packet->psiDot_c = psiDot_c;
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packet->ay_body = ay_body;
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packet->totalDist = totalDist;
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packet->dist2Go = dist2Go;
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packet->h_c = h_c;
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packet->fromWP = fromWP;
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packet->toWP = toWP;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SLUGS_NAVIGATION, (const char *)packet, MAVLINK_MSG_ID_SLUGS_NAVIGATION_MIN_LEN, MAVLINK_MSG_ID_SLUGS_NAVIGATION_LEN, MAVLINK_MSG_ID_SLUGS_NAVIGATION_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 SLUGS_NAVIGATION UNPACKING
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/**
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* @brief Get field u_m from slugs_navigation message
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*
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* @return [m/s] Measured Airspeed prior to the nav filter
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*/
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static inline float mavlink_msg_slugs_navigation_get_u_m(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 phi_c from slugs_navigation message
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*
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* @return Commanded Roll
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*/
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static inline float mavlink_msg_slugs_navigation_get_phi_c(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 theta_c from slugs_navigation message
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*
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* @return Commanded Pitch
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*/
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static inline float mavlink_msg_slugs_navigation_get_theta_c(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 8);
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}
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/**
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* @brief Get field psiDot_c from slugs_navigation message
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*
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* @return Commanded Turn rate
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*/
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static inline float mavlink_msg_slugs_navigation_get_psiDot_c(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 12);
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}
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/**
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* @brief Get field ay_body from slugs_navigation message
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*
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* @return Y component of the body acceleration
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*/
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static inline float mavlink_msg_slugs_navigation_get_ay_body(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 16);
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}
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/**
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* @brief Get field totalDist from slugs_navigation message
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*
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* @return Total Distance to Run on this leg of Navigation
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|
*/
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static inline float mavlink_msg_slugs_navigation_get_totalDist(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 20);
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}
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/**
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* @brief Get field dist2Go from slugs_navigation message
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*
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|
* @return Remaining distance to Run on this leg of Navigation
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*/
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static inline float mavlink_msg_slugs_navigation_get_dist2Go(const mavlink_message_t* msg)
|
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{
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return _MAV_RETURN_float(msg, 24);
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}
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/**
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* @brief Get field fromWP from slugs_navigation message
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*
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* @return Origin WP
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|
*/
|
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static inline uint8_t mavlink_msg_slugs_navigation_get_fromWP(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint8_t(msg, 30);
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}
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|
|
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/**
|
|
* @brief Get field toWP from slugs_navigation message
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|
*
|
|
* @return Destination WP
|
|
*/
|
|
static inline uint8_t mavlink_msg_slugs_navigation_get_toWP(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint8_t(msg, 31);
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|
}
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|
|
|
/**
|
|
* @brief Get field h_c from slugs_navigation message
|
|
*
|
|
* @return [dm] Commanded altitude (MSL)
|
|
*/
|
|
static inline uint16_t mavlink_msg_slugs_navigation_get_h_c(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint16_t(msg, 28);
|
|
}
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|
|
|
/**
|
|
* @brief Decode a slugs_navigation message into a struct
|
|
*
|
|
* @param msg The message to decode
|
|
* @param slugs_navigation C-struct to decode the message contents into
|
|
*/
|
|
static inline void mavlink_msg_slugs_navigation_decode(const mavlink_message_t* msg, mavlink_slugs_navigation_t* slugs_navigation)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
slugs_navigation->u_m = mavlink_msg_slugs_navigation_get_u_m(msg);
|
|
slugs_navigation->phi_c = mavlink_msg_slugs_navigation_get_phi_c(msg);
|
|
slugs_navigation->theta_c = mavlink_msg_slugs_navigation_get_theta_c(msg);
|
|
slugs_navigation->psiDot_c = mavlink_msg_slugs_navigation_get_psiDot_c(msg);
|
|
slugs_navigation->ay_body = mavlink_msg_slugs_navigation_get_ay_body(msg);
|
|
slugs_navigation->totalDist = mavlink_msg_slugs_navigation_get_totalDist(msg);
|
|
slugs_navigation->dist2Go = mavlink_msg_slugs_navigation_get_dist2Go(msg);
|
|
slugs_navigation->h_c = mavlink_msg_slugs_navigation_get_h_c(msg);
|
|
slugs_navigation->fromWP = mavlink_msg_slugs_navigation_get_fromWP(msg);
|
|
slugs_navigation->toWP = mavlink_msg_slugs_navigation_get_toWP(msg);
|
|
#else
|
|
uint8_t len = msg->len < MAVLINK_MSG_ID_SLUGS_NAVIGATION_LEN? msg->len : MAVLINK_MSG_ID_SLUGS_NAVIGATION_LEN;
|
|
memset(slugs_navigation, 0, MAVLINK_MSG_ID_SLUGS_NAVIGATION_LEN);
|
|
memcpy(slugs_navigation, _MAV_PAYLOAD(msg), len);
|
|
#endif
|
|
}
|