378 lines
15 KiB
C
378 lines
15 KiB
C
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// MESSAGE GIMBAL_CONTROL PACKING
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#define MAVLINK_MSG_ID_GIMBAL_CONTROL 185
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typedef struct __mavlink_gimbal_control_t
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{
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float demanded_rate_x; ///< Demanded angular rate X, radians/s
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float demanded_rate_y; ///< Demanded angular rate Y, radians/s
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float demanded_rate_z; ///< Demanded angular rate Z, radians/s
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float gyro_bias_x; ///< Gyro bias X, radians/s
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float gyro_bias_y; ///< Gyro bias Y, radians/s
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float gyro_bias_z; ///< Gyro bias Z, radians/s
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uint8_t target_system; ///< System ID
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uint8_t target_component; ///< Component ID
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} mavlink_gimbal_control_t;
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#define MAVLINK_MSG_ID_GIMBAL_CONTROL_LEN 26
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#define MAVLINK_MSG_ID_185_LEN 26
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#define MAVLINK_MSG_ID_GIMBAL_CONTROL_CRC 239
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#define MAVLINK_MSG_ID_185_CRC 239
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#define MAVLINK_MESSAGE_INFO_GIMBAL_CONTROL { \
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"GIMBAL_CONTROL", \
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8, \
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{ { "demanded_rate_x", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_gimbal_control_t, demanded_rate_x) }, \
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{ "demanded_rate_y", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_gimbal_control_t, demanded_rate_y) }, \
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{ "demanded_rate_z", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_gimbal_control_t, demanded_rate_z) }, \
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{ "gyro_bias_x", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_gimbal_control_t, gyro_bias_x) }, \
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{ "gyro_bias_y", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_gimbal_control_t, gyro_bias_y) }, \
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{ "gyro_bias_z", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_gimbal_control_t, gyro_bias_z) }, \
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{ "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 24, offsetof(mavlink_gimbal_control_t, target_system) }, \
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{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 25, offsetof(mavlink_gimbal_control_t, target_component) }, \
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} \
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}
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/**
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* @brief Pack a gimbal_control 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_system System ID
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* @param target_component Component ID
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* @param demanded_rate_x Demanded angular rate X, radians/s
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* @param demanded_rate_y Demanded angular rate Y, radians/s
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* @param demanded_rate_z Demanded angular rate Z, radians/s
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* @param gyro_bias_x Gyro bias X, radians/s
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* @param gyro_bias_y Gyro bias Y, radians/s
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* @param gyro_bias_z Gyro bias Z, radians/s
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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_gimbal_control_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint8_t target_system, uint8_t target_component, float demanded_rate_x, float demanded_rate_y, float demanded_rate_z, float gyro_bias_x, float gyro_bias_y, float gyro_bias_z)
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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_GIMBAL_CONTROL_LEN];
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_mav_put_float(buf, 0, demanded_rate_x);
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_mav_put_float(buf, 4, demanded_rate_y);
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_mav_put_float(buf, 8, demanded_rate_z);
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_mav_put_float(buf, 12, gyro_bias_x);
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_mav_put_float(buf, 16, gyro_bias_y);
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_mav_put_float(buf, 20, gyro_bias_z);
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_mav_put_uint8_t(buf, 24, target_system);
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_mav_put_uint8_t(buf, 25, target_component);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GIMBAL_CONTROL_LEN);
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#else
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mavlink_gimbal_control_t packet;
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packet.demanded_rate_x = demanded_rate_x;
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packet.demanded_rate_y = demanded_rate_y;
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packet.demanded_rate_z = demanded_rate_z;
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packet.gyro_bias_x = gyro_bias_x;
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packet.gyro_bias_y = gyro_bias_y;
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packet.gyro_bias_z = gyro_bias_z;
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packet.target_system = target_system;
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packet.target_component = target_component;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GIMBAL_CONTROL_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_GIMBAL_CONTROL;
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#if MAVLINK_CRC_EXTRA
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GIMBAL_CONTROL_LEN, MAVLINK_MSG_ID_GIMBAL_CONTROL_CRC);
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#else
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GIMBAL_CONTROL_LEN);
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#endif
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}
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/**
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* @brief Pack a gimbal_control 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_system System ID
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* @param target_component Component ID
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* @param demanded_rate_x Demanded angular rate X, radians/s
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* @param demanded_rate_y Demanded angular rate Y, radians/s
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* @param demanded_rate_z Demanded angular rate Z, radians/s
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* @param gyro_bias_x Gyro bias X, radians/s
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* @param gyro_bias_y Gyro bias Y, radians/s
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* @param gyro_bias_z Gyro bias Z, radians/s
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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_gimbal_control_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_system,uint8_t target_component,float demanded_rate_x,float demanded_rate_y,float demanded_rate_z,float gyro_bias_x,float gyro_bias_y,float gyro_bias_z)
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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_GIMBAL_CONTROL_LEN];
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_mav_put_float(buf, 0, demanded_rate_x);
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_mav_put_float(buf, 4, demanded_rate_y);
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_mav_put_float(buf, 8, demanded_rate_z);
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_mav_put_float(buf, 12, gyro_bias_x);
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_mav_put_float(buf, 16, gyro_bias_y);
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_mav_put_float(buf, 20, gyro_bias_z);
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_mav_put_uint8_t(buf, 24, target_system);
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_mav_put_uint8_t(buf, 25, target_component);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GIMBAL_CONTROL_LEN);
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#else
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mavlink_gimbal_control_t packet;
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packet.demanded_rate_x = demanded_rate_x;
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packet.demanded_rate_y = demanded_rate_y;
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packet.demanded_rate_z = demanded_rate_z;
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packet.gyro_bias_x = gyro_bias_x;
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packet.gyro_bias_y = gyro_bias_y;
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packet.gyro_bias_z = gyro_bias_z;
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packet.target_system = target_system;
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packet.target_component = target_component;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GIMBAL_CONTROL_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_GIMBAL_CONTROL;
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#if MAVLINK_CRC_EXTRA
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GIMBAL_CONTROL_LEN, MAVLINK_MSG_ID_GIMBAL_CONTROL_CRC);
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#else
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GIMBAL_CONTROL_LEN);
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#endif
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}
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/**
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* @brief Encode a gimbal_control 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 gimbal_control C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_gimbal_control_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gimbal_control_t* gimbal_control)
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{
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return mavlink_msg_gimbal_control_pack(system_id, component_id, msg, gimbal_control->target_system, gimbal_control->target_component, gimbal_control->demanded_rate_x, gimbal_control->demanded_rate_y, gimbal_control->demanded_rate_z, gimbal_control->gyro_bias_x, gimbal_control->gyro_bias_y, gimbal_control->gyro_bias_z);
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}
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/**
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* @brief Encode a gimbal_control 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 gimbal_control C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_gimbal_control_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_gimbal_control_t* gimbal_control)
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{
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return mavlink_msg_gimbal_control_pack_chan(system_id, component_id, chan, msg, gimbal_control->target_system, gimbal_control->target_component, gimbal_control->demanded_rate_x, gimbal_control->demanded_rate_y, gimbal_control->demanded_rate_z, gimbal_control->gyro_bias_x, gimbal_control->gyro_bias_y, gimbal_control->gyro_bias_z);
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}
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/**
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* @brief Send a gimbal_control message
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* @param chan MAVLink channel to send the message
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*
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* @param target_system System ID
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* @param target_component Component ID
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* @param demanded_rate_x Demanded angular rate X, radians/s
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* @param demanded_rate_y Demanded angular rate Y, radians/s
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* @param demanded_rate_z Demanded angular rate Z, radians/s
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* @param gyro_bias_x Gyro bias X, radians/s
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* @param gyro_bias_y Gyro bias Y, radians/s
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* @param gyro_bias_z Gyro bias Z, radians/s
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_gimbal_control_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, float demanded_rate_x, float demanded_rate_y, float demanded_rate_z, float gyro_bias_x, float gyro_bias_y, float gyro_bias_z)
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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_GIMBAL_CONTROL_LEN];
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_mav_put_float(buf, 0, demanded_rate_x);
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_mav_put_float(buf, 4, demanded_rate_y);
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_mav_put_float(buf, 8, demanded_rate_z);
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_mav_put_float(buf, 12, gyro_bias_x);
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_mav_put_float(buf, 16, gyro_bias_y);
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_mav_put_float(buf, 20, gyro_bias_z);
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_mav_put_uint8_t(buf, 24, target_system);
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_mav_put_uint8_t(buf, 25, target_component);
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#if MAVLINK_CRC_EXTRA
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GIMBAL_CONTROL, buf, MAVLINK_MSG_ID_GIMBAL_CONTROL_LEN, MAVLINK_MSG_ID_GIMBAL_CONTROL_CRC);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GIMBAL_CONTROL, buf, MAVLINK_MSG_ID_GIMBAL_CONTROL_LEN);
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#endif
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#else
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mavlink_gimbal_control_t packet;
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packet.demanded_rate_x = demanded_rate_x;
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packet.demanded_rate_y = demanded_rate_y;
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packet.demanded_rate_z = demanded_rate_z;
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packet.gyro_bias_x = gyro_bias_x;
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packet.gyro_bias_y = gyro_bias_y;
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packet.gyro_bias_z = gyro_bias_z;
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packet.target_system = target_system;
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packet.target_component = target_component;
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#if MAVLINK_CRC_EXTRA
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GIMBAL_CONTROL, (const char *)&packet, MAVLINK_MSG_ID_GIMBAL_CONTROL_LEN, MAVLINK_MSG_ID_GIMBAL_CONTROL_CRC);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GIMBAL_CONTROL, (const char *)&packet, MAVLINK_MSG_ID_GIMBAL_CONTROL_LEN);
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#endif
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#endif
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}
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#if MAVLINK_MSG_ID_GIMBAL_CONTROL_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_gimbal_control_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, float demanded_rate_x, float demanded_rate_y, float demanded_rate_z, float gyro_bias_x, float gyro_bias_y, float gyro_bias_z)
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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, demanded_rate_x);
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_mav_put_float(buf, 4, demanded_rate_y);
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_mav_put_float(buf, 8, demanded_rate_z);
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_mav_put_float(buf, 12, gyro_bias_x);
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_mav_put_float(buf, 16, gyro_bias_y);
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_mav_put_float(buf, 20, gyro_bias_z);
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_mav_put_uint8_t(buf, 24, target_system);
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_mav_put_uint8_t(buf, 25, target_component);
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#if MAVLINK_CRC_EXTRA
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GIMBAL_CONTROL, buf, MAVLINK_MSG_ID_GIMBAL_CONTROL_LEN, MAVLINK_MSG_ID_GIMBAL_CONTROL_CRC);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GIMBAL_CONTROL, buf, MAVLINK_MSG_ID_GIMBAL_CONTROL_LEN);
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#endif
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#else
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mavlink_gimbal_control_t *packet = (mavlink_gimbal_control_t *)msgbuf;
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packet->demanded_rate_x = demanded_rate_x;
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packet->demanded_rate_y = demanded_rate_y;
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packet->demanded_rate_z = demanded_rate_z;
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packet->gyro_bias_x = gyro_bias_x;
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packet->gyro_bias_y = gyro_bias_y;
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packet->gyro_bias_z = gyro_bias_z;
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packet->target_system = target_system;
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packet->target_component = target_component;
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#if MAVLINK_CRC_EXTRA
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GIMBAL_CONTROL, (const char *)packet, MAVLINK_MSG_ID_GIMBAL_CONTROL_LEN, MAVLINK_MSG_ID_GIMBAL_CONTROL_CRC);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GIMBAL_CONTROL, (const char *)packet, MAVLINK_MSG_ID_GIMBAL_CONTROL_LEN);
|
||
|
|
#endif
|
||
|
|
#endif
|
||
|
|
}
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#endif
|
||
|
|
|
||
|
|
// MESSAGE GIMBAL_CONTROL UNPACKING
|
||
|
|
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field target_system from gimbal_control message
|
||
|
|
*
|
||
|
|
* @return System ID
|
||
|
|
*/
|
||
|
|
static inline uint8_t mavlink_msg_gimbal_control_get_target_system(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_uint8_t(msg, 24);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field target_component from gimbal_control message
|
||
|
|
*
|
||
|
|
* @return Component ID
|
||
|
|
*/
|
||
|
|
static inline uint8_t mavlink_msg_gimbal_control_get_target_component(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_uint8_t(msg, 25);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field demanded_rate_x from gimbal_control message
|
||
|
|
*
|
||
|
|
* @return Demanded angular rate X, radians/s
|
||
|
|
*/
|
||
|
|
static inline float mavlink_msg_gimbal_control_get_demanded_rate_x(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_float(msg, 0);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field demanded_rate_y from gimbal_control message
|
||
|
|
*
|
||
|
|
* @return Demanded angular rate Y, radians/s
|
||
|
|
*/
|
||
|
|
static inline float mavlink_msg_gimbal_control_get_demanded_rate_y(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_float(msg, 4);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field demanded_rate_z from gimbal_control message
|
||
|
|
*
|
||
|
|
* @return Demanded angular rate Z, radians/s
|
||
|
|
*/
|
||
|
|
static inline float mavlink_msg_gimbal_control_get_demanded_rate_z(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_float(msg, 8);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field gyro_bias_x from gimbal_control message
|
||
|
|
*
|
||
|
|
* @return Gyro bias X, radians/s
|
||
|
|
*/
|
||
|
|
static inline float mavlink_msg_gimbal_control_get_gyro_bias_x(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_float(msg, 12);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field gyro_bias_y from gimbal_control message
|
||
|
|
*
|
||
|
|
* @return Gyro bias Y, radians/s
|
||
|
|
*/
|
||
|
|
static inline float mavlink_msg_gimbal_control_get_gyro_bias_y(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_float(msg, 16);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field gyro_bias_z from gimbal_control message
|
||
|
|
*
|
||
|
|
* @return Gyro bias Z, radians/s
|
||
|
|
*/
|
||
|
|
static inline float mavlink_msg_gimbal_control_get_gyro_bias_z(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_float(msg, 20);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Decode a gimbal_control message into a struct
|
||
|
|
*
|
||
|
|
* @param msg The message to decode
|
||
|
|
* @param gimbal_control C-struct to decode the message contents into
|
||
|
|
*/
|
||
|
|
static inline void mavlink_msg_gimbal_control_decode(const mavlink_message_t* msg, mavlink_gimbal_control_t* gimbal_control)
|
||
|
|
{
|
||
|
|
#if MAVLINK_NEED_BYTE_SWAP
|
||
|
|
gimbal_control->demanded_rate_x = mavlink_msg_gimbal_control_get_demanded_rate_x(msg);
|
||
|
|
gimbal_control->demanded_rate_y = mavlink_msg_gimbal_control_get_demanded_rate_y(msg);
|
||
|
|
gimbal_control->demanded_rate_z = mavlink_msg_gimbal_control_get_demanded_rate_z(msg);
|
||
|
|
gimbal_control->gyro_bias_x = mavlink_msg_gimbal_control_get_gyro_bias_x(msg);
|
||
|
|
gimbal_control->gyro_bias_y = mavlink_msg_gimbal_control_get_gyro_bias_y(msg);
|
||
|
|
gimbal_control->gyro_bias_z = mavlink_msg_gimbal_control_get_gyro_bias_z(msg);
|
||
|
|
gimbal_control->target_system = mavlink_msg_gimbal_control_get_target_system(msg);
|
||
|
|
gimbal_control->target_component = mavlink_msg_gimbal_control_get_target_component(msg);
|
||
|
|
#else
|
||
|
|
memcpy(gimbal_control, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_GIMBAL_CONTROL_LEN);
|
||
|
|
#endif
|
||
|
|
}
|