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
339 lines
13 KiB
C
339 lines
13 KiB
C
#pragma once
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// MESSAGE UAV_STATUS PACKING
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#define MAVLINK_MSG_ID_UAV_STATUS 193
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MAVPACKED(
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typedef struct __mavlink_uav_status_t {
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float latitude; /*< [deg] Latitude UAV*/
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float longitude; /*< [deg] Longitude UAV*/
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float altitude; /*< [m] Altitude UAV*/
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float speed; /*< [m/s] Speed UAV*/
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float course; /*< Course UAV*/
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uint8_t target; /*< The ID system reporting the action*/
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}) mavlink_uav_status_t;
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#define MAVLINK_MSG_ID_UAV_STATUS_LEN 21
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#define MAVLINK_MSG_ID_UAV_STATUS_MIN_LEN 21
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#define MAVLINK_MSG_ID_193_LEN 21
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#define MAVLINK_MSG_ID_193_MIN_LEN 21
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#define MAVLINK_MSG_ID_UAV_STATUS_CRC 160
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#define MAVLINK_MSG_ID_193_CRC 160
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_UAV_STATUS { \
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193, \
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"UAV_STATUS", \
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6, \
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{ { "target", NULL, MAVLINK_TYPE_UINT8_T, 0, 20, offsetof(mavlink_uav_status_t, target) }, \
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{ "latitude", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_uav_status_t, latitude) }, \
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{ "longitude", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_uav_status_t, longitude) }, \
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{ "altitude", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_uav_status_t, altitude) }, \
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{ "speed", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_uav_status_t, speed) }, \
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{ "course", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_uav_status_t, course) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_UAV_STATUS { \
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"UAV_STATUS", \
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6, \
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{ { "target", NULL, MAVLINK_TYPE_UINT8_T, 0, 20, offsetof(mavlink_uav_status_t, target) }, \
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{ "latitude", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_uav_status_t, latitude) }, \
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{ "longitude", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_uav_status_t, longitude) }, \
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{ "altitude", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_uav_status_t, altitude) }, \
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{ "speed", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_uav_status_t, speed) }, \
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{ "course", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_uav_status_t, course) }, \
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} \
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}
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#endif
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/**
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* @brief Pack a uav_status 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 ID system reporting the action
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* @param latitude [deg] Latitude UAV
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* @param longitude [deg] Longitude UAV
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* @param altitude [m] Altitude UAV
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* @param speed [m/s] Speed UAV
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* @param course Course UAV
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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_uav_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint8_t target, float latitude, float longitude, float altitude, float speed, float course)
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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_UAV_STATUS_LEN];
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_mav_put_float(buf, 0, latitude);
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_mav_put_float(buf, 4, longitude);
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_mav_put_float(buf, 8, altitude);
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_mav_put_float(buf, 12, speed);
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_mav_put_float(buf, 16, course);
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_mav_put_uint8_t(buf, 20, target);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_UAV_STATUS_LEN);
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#else
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mavlink_uav_status_t packet;
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packet.latitude = latitude;
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packet.longitude = longitude;
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packet.altitude = altitude;
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packet.speed = speed;
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packet.course = course;
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packet.target = target;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_UAV_STATUS_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_UAV_STATUS;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_UAV_STATUS_MIN_LEN, MAVLINK_MSG_ID_UAV_STATUS_LEN, MAVLINK_MSG_ID_UAV_STATUS_CRC);
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}
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/**
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* @brief Pack a uav_status 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 ID system reporting the action
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* @param latitude [deg] Latitude UAV
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* @param longitude [deg] Longitude UAV
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* @param altitude [m] Altitude UAV
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* @param speed [m/s] Speed UAV
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* @param course Course UAV
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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_uav_status_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 latitude,float longitude,float altitude,float speed,float course)
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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_UAV_STATUS_LEN];
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_mav_put_float(buf, 0, latitude);
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_mav_put_float(buf, 4, longitude);
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_mav_put_float(buf, 8, altitude);
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_mav_put_float(buf, 12, speed);
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_mav_put_float(buf, 16, course);
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_mav_put_uint8_t(buf, 20, target);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_UAV_STATUS_LEN);
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#else
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mavlink_uav_status_t packet;
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packet.latitude = latitude;
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packet.longitude = longitude;
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packet.altitude = altitude;
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packet.speed = speed;
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packet.course = course;
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packet.target = target;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_UAV_STATUS_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_UAV_STATUS;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_UAV_STATUS_MIN_LEN, MAVLINK_MSG_ID_UAV_STATUS_LEN, MAVLINK_MSG_ID_UAV_STATUS_CRC);
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}
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/**
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* @brief Encode a uav_status 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 uav_status C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_uav_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_uav_status_t* uav_status)
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{
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return mavlink_msg_uav_status_pack(system_id, component_id, msg, uav_status->target, uav_status->latitude, uav_status->longitude, uav_status->altitude, uav_status->speed, uav_status->course);
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}
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/**
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* @brief Encode a uav_status 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 uav_status C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_uav_status_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_uav_status_t* uav_status)
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{
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return mavlink_msg_uav_status_pack_chan(system_id, component_id, chan, msg, uav_status->target, uav_status->latitude, uav_status->longitude, uav_status->altitude, uav_status->speed, uav_status->course);
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}
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/**
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* @brief Send a uav_status message
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* @param chan MAVLink channel to send the message
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*
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* @param target The ID system reporting the action
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* @param latitude [deg] Latitude UAV
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* @param longitude [deg] Longitude UAV
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* @param altitude [m] Altitude UAV
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* @param speed [m/s] Speed UAV
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* @param course Course UAV
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_uav_status_send(mavlink_channel_t chan, uint8_t target, float latitude, float longitude, float altitude, float speed, float course)
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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_UAV_STATUS_LEN];
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_mav_put_float(buf, 0, latitude);
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_mav_put_float(buf, 4, longitude);
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_mav_put_float(buf, 8, altitude);
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_mav_put_float(buf, 12, speed);
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_mav_put_float(buf, 16, course);
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_mav_put_uint8_t(buf, 20, target);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_UAV_STATUS, buf, MAVLINK_MSG_ID_UAV_STATUS_MIN_LEN, MAVLINK_MSG_ID_UAV_STATUS_LEN, MAVLINK_MSG_ID_UAV_STATUS_CRC);
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#else
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mavlink_uav_status_t packet;
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packet.latitude = latitude;
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packet.longitude = longitude;
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packet.altitude = altitude;
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packet.speed = speed;
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packet.course = course;
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packet.target = target;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_UAV_STATUS, (const char *)&packet, MAVLINK_MSG_ID_UAV_STATUS_MIN_LEN, MAVLINK_MSG_ID_UAV_STATUS_LEN, MAVLINK_MSG_ID_UAV_STATUS_CRC);
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#endif
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}
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/**
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* @brief Send a uav_status 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_uav_status_send_struct(mavlink_channel_t chan, const mavlink_uav_status_t* uav_status)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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mavlink_msg_uav_status_send(chan, uav_status->target, uav_status->latitude, uav_status->longitude, uav_status->altitude, uav_status->speed, uav_status->course);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_UAV_STATUS, (const char *)uav_status, MAVLINK_MSG_ID_UAV_STATUS_MIN_LEN, MAVLINK_MSG_ID_UAV_STATUS_LEN, MAVLINK_MSG_ID_UAV_STATUS_CRC);
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#endif
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}
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#if MAVLINK_MSG_ID_UAV_STATUS_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_uav_status_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target, float latitude, float longitude, float altitude, float speed, float course)
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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, latitude);
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_mav_put_float(buf, 4, longitude);
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_mav_put_float(buf, 8, altitude);
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_mav_put_float(buf, 12, speed);
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_mav_put_float(buf, 16, course);
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_mav_put_uint8_t(buf, 20, target);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_UAV_STATUS, buf, MAVLINK_MSG_ID_UAV_STATUS_MIN_LEN, MAVLINK_MSG_ID_UAV_STATUS_LEN, MAVLINK_MSG_ID_UAV_STATUS_CRC);
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#else
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mavlink_uav_status_t *packet = (mavlink_uav_status_t *)msgbuf;
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packet->latitude = latitude;
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packet->longitude = longitude;
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packet->altitude = altitude;
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packet->speed = speed;
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packet->course = course;
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packet->target = target;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_UAV_STATUS, (const char *)packet, MAVLINK_MSG_ID_UAV_STATUS_MIN_LEN, MAVLINK_MSG_ID_UAV_STATUS_LEN, MAVLINK_MSG_ID_UAV_STATUS_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 UAV_STATUS UNPACKING
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/**
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* @brief Get field target from uav_status message
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*
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* @return The ID system reporting the action
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*/
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static inline uint8_t mavlink_msg_uav_status_get_target(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 20);
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}
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/**
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* @brief Get field latitude from uav_status message
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*
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* @return [deg] Latitude UAV
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*/
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static inline float mavlink_msg_uav_status_get_latitude(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 longitude from uav_status message
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*
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* @return [deg] Longitude UAV
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*/
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static inline float mavlink_msg_uav_status_get_longitude(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 altitude from uav_status message
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*
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* @return [m] Altitude UAV
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*/
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static inline float mavlink_msg_uav_status_get_altitude(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 speed from uav_status message
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*
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* @return [m/s] Speed UAV
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*/
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static inline float mavlink_msg_uav_status_get_speed(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 course from uav_status message
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*
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* @return Course UAV
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*/
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static inline float mavlink_msg_uav_status_get_course(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 Decode a uav_status message into a struct
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*
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* @param msg The message to decode
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* @param uav_status C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_uav_status_decode(const mavlink_message_t* msg, mavlink_uav_status_t* uav_status)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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uav_status->latitude = mavlink_msg_uav_status_get_latitude(msg);
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uav_status->longitude = mavlink_msg_uav_status_get_longitude(msg);
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uav_status->altitude = mavlink_msg_uav_status_get_altitude(msg);
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uav_status->speed = mavlink_msg_uav_status_get_speed(msg);
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uav_status->course = mavlink_msg_uav_status_get_course(msg);
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uav_status->target = mavlink_msg_uav_status_get_target(msg);
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#else
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uint8_t len = msg->len < MAVLINK_MSG_ID_UAV_STATUS_LEN? msg->len : MAVLINK_MSG_ID_UAV_STATUS_LEN;
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memset(uav_status, 0, MAVLINK_MSG_ID_UAV_STATUS_LEN);
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memcpy(uav_status, _MAV_PAYLOAD(msg), len);
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#endif
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}
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