hm/c_library_v2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

✨feat: 更好兼容matlab

Browse Source 
uin64->uint32
payload64->payload
This commit is contained in:
matt
2020-09-20 10:12:24 +08:00
parent 1465895353
commit e79d1f21fb
289 changed files with 6428 additions and 15915 deletions
Download Patch File Download Diff File Expand all files Collapse all files
common/mavlink_msg_hil_actuator_controls.h
+49 -49
View File
@@ -3,21 +3,21 @@
#define MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS 93
MAVPACKED(
typedef struct __mavlink_hil_actuator_controls_t {
uint64_t time_usec; /*< [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.*/
uint64_t flags; /*< Flags as bitfield, reserved for future use.*/
uint32_t time_usec; /*< [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.*/
float controls[16]; /*< Control outputs -1 .. 1. Channel assignment depends on the simulated hardware.*/
uint32_t flags; /*< Flags as bitfield, reserved for future use.*/
uint8_t mode; /*< System mode. Includes arming state.*/
}) mavlink_hil_actuator_controls_t;
} mavlink_hil_actuator_controls_t;
#define MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN 81
#define MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_MIN_LEN 81
#define MAVLINK_MSG_ID_93_LEN 81
#define MAVLINK_MSG_ID_93_MIN_LEN 81
#define MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN 73
#define MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_MIN_LEN 73
#define MAVLINK_MSG_ID_93_LEN 73
#define MAVLINK_MSG_ID_93_MIN_LEN 73
#define MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_CRC 47
#define MAVLINK_MSG_ID_93_CRC 47
#define MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_CRC 161
#define MAVLINK_MSG_ID_93_CRC 161
#define MAVLINK_MSG_HIL_ACTUATOR_CONTROLS_FIELD_CONTROLS_LEN 16
@@ -26,20 +26,20 @@ typedef struct __mavlink_hil_actuator_controls_t {
93, \
"HIL_ACTUATOR_CONTROLS", \
4, \
{ { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_actuator_controls_t, time_usec) }, \
{ "controls", NULL, MAVLINK_TYPE_FLOAT, 16, 16, offsetof(mavlink_hil_actuator_controls_t, controls) }, \
{ "mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 80, offsetof(mavlink_hil_actuator_controls_t, mode) }, \
{ "flags", NULL, MAVLINK_TYPE_UINT64_T, 0, 8, offsetof(mavlink_hil_actuator_controls_t, flags) }, \
{ { "time_usec", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_hil_actuator_controls_t, time_usec) }, \
{ "controls", NULL, MAVLINK_TYPE_FLOAT, 16, 4, offsetof(mavlink_hil_actuator_controls_t, controls) }, \
{ "mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 72, offsetof(mavlink_hil_actuator_controls_t, mode) }, \
{ "flags", NULL, MAVLINK_TYPE_UINT32_T, 0, 68, offsetof(mavlink_hil_actuator_controls_t, flags) }, \
} \
}
#else
#define MAVLINK_MESSAGE_INFO_HIL_ACTUATOR_CONTROLS { \
"HIL_ACTUATOR_CONTROLS", \
4, \
{ { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_actuator_controls_t, time_usec) }, \
{ "controls", NULL, MAVLINK_TYPE_FLOAT, 16, 16, offsetof(mavlink_hil_actuator_controls_t, controls) }, \
{ "mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 80, offsetof(mavlink_hil_actuator_controls_t, mode) }, \
{ "flags", NULL, MAVLINK_TYPE_UINT64_T, 0, 8, offsetof(mavlink_hil_actuator_controls_t, flags) }, \
{ { "time_usec", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_hil_actuator_controls_t, time_usec) }, \
{ "controls", NULL, MAVLINK_TYPE_FLOAT, 16, 4, offsetof(mavlink_hil_actuator_controls_t, controls) }, \
{ "mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 72, offsetof(mavlink_hil_actuator_controls_t, mode) }, \
{ "flags", NULL, MAVLINK_TYPE_UINT32_T, 0, 68, offsetof(mavlink_hil_actuator_controls_t, flags) }, \
} \
}
#endif
@@ -56,15 +56,15 @@ typedef struct __mavlink_hil_actuator_controls_t {
* @param flags Flags as bitfield, reserved for future use.
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_hil_actuator_controls_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint64_t time_usec, const float *controls, uint8_t mode, uint64_t flags)
static inline uint16_t mavlink_msg_hil_actuator_controls_pack(uint16_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint32_t time_usec, const float *controls, uint8_t mode, uint32_t flags)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN];
_mav_put_uint64_t(buf, 0, time_usec);
_mav_put_uint64_t(buf, 8, flags);
_mav_put_uint8_t(buf, 80, mode);
_mav_put_float_array(buf, 16, controls, 16);
_mav_put_uint32_t(buf, 0, time_usec);
_mav_put_uint32_t(buf, 68, flags);
_mav_put_uint8_t(buf, 72, mode);
_mav_put_float_array(buf, 4, controls, 16);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN);
#else
mavlink_hil_actuator_controls_t packet;
@@ -91,16 +91,16 @@ static inline uint16_t mavlink_msg_hil_actuator_controls_pack(uint8_t system_id,
* @param flags Flags as bitfield, reserved for future use.
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_hil_actuator_controls_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
static inline uint16_t mavlink_msg_hil_actuator_controls_pack_chan(uint16_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint64_t time_usec,const float *controls,uint8_t mode,uint64_t flags)
uint32_t time_usec,const float *controls,uint8_t mode,uint32_t flags)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN];
_mav_put_uint64_t(buf, 0, time_usec);
_mav_put_uint64_t(buf, 8, flags);
_mav_put_uint8_t(buf, 80, mode);
_mav_put_float_array(buf, 16, controls, 16);
_mav_put_uint32_t(buf, 0, time_usec);
_mav_put_uint32_t(buf, 68, flags);
_mav_put_uint8_t(buf, 72, mode);
_mav_put_float_array(buf, 4, controls, 16);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN);
#else
mavlink_hil_actuator_controls_t packet;
@@ -123,7 +123,7 @@ static inline uint16_t mavlink_msg_hil_actuator_controls_pack_chan(uint8_t syste
* @param msg The MAVLink message to compress the data into
* @param hil_actuator_controls C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_hil_actuator_controls_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hil_actuator_controls_t* hil_actuator_controls)
static inline uint16_t mavlink_msg_hil_actuator_controls_encode(uint16_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hil_actuator_controls_t* hil_actuator_controls)
{
return mavlink_msg_hil_actuator_controls_pack(system_id, component_id, msg, hil_actuator_controls->time_usec, hil_actuator_controls->controls, hil_actuator_controls->mode, hil_actuator_controls->flags);
}
@@ -137,7 +137,7 @@ static inline uint16_t mavlink_msg_hil_actuator_controls_encode(uint8_t system_i
* @param msg The MAVLink message to compress the data into
* @param hil_actuator_controls C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_hil_actuator_controls_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_hil_actuator_controls_t* hil_actuator_controls)
static inline uint16_t mavlink_msg_hil_actuator_controls_encode_chan(uint16_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_hil_actuator_controls_t* hil_actuator_controls)
{
return mavlink_msg_hil_actuator_controls_pack_chan(system_id, component_id, chan, msg, hil_actuator_controls->time_usec, hil_actuator_controls->controls, hil_actuator_controls->mode, hil_actuator_controls->flags);
}
@@ -153,14 +153,14 @@ static inline uint16_t mavlink_msg_hil_actuator_controls_encode_chan(uint8_t sys
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_hil_actuator_controls_send(mavlink_channel_t chan, uint64_t time_usec, const float *controls, uint8_t mode, uint64_t flags)
static inline void mavlink_msg_hil_actuator_controls_send(mavlink_channel_t chan, uint32_t time_usec, const float *controls, uint8_t mode, uint32_t flags)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN];
_mav_put_uint64_t(buf, 0, time_usec);
_mav_put_uint64_t(buf, 8, flags);
_mav_put_uint8_t(buf, 80, mode);
_mav_put_float_array(buf, 16, controls, 16);
_mav_put_uint32_t(buf, 0, time_usec);
_mav_put_uint32_t(buf, 68, flags);
_mav_put_uint8_t(buf, 72, mode);
_mav_put_float_array(buf, 4, controls, 16);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS, buf, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_MIN_LEN, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_CRC);
#else
mavlink_hil_actuator_controls_t packet;
@@ -194,14 +194,14 @@ static inline void mavlink_msg_hil_actuator_controls_send_struct(mavlink_channel
is usually the receive buffer for the channel, and allows a reply to an
incoming message with minimum stack space usage.
*/
static inline void mavlink_msg_hil_actuator_controls_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_usec, const float *controls, uint8_t mode, uint64_t flags)
static inline void mavlink_msg_hil_actuator_controls_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_usec, const float *controls, uint8_t mode, uint32_t flags)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
_mav_put_uint64_t(buf, 0, time_usec);
_mav_put_uint64_t(buf, 8, flags);
_mav_put_uint8_t(buf, 80, mode);
_mav_put_float_array(buf, 16, controls, 16);
_mav_put_uint32_t(buf, 0, time_usec);
_mav_put_uint32_t(buf, 68, flags);
_mav_put_uint8_t(buf, 72, mode);
_mav_put_float_array(buf, 4, controls, 16);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS, buf, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_MIN_LEN, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_CRC);
#else
mavlink_hil_actuator_controls_t *packet = (mavlink_hil_actuator_controls_t *)msgbuf;
@@ -224,9 +224,9 @@ static inline void mavlink_msg_hil_actuator_controls_send_buf(mavlink_message_t
*
* @return [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
*/
static inline uint64_t mavlink_msg_hil_actuator_controls_get_time_usec(const mavlink_message_t* msg)
static inline uint32_t mavlink_msg_hil_actuator_controls_get_time_usec(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint64_t(msg, 0);
return _MAV_RETURN_uint32_t(msg, 0);
}
/**
@@ -236,7 +236,7 @@ static inline uint64_t mavlink_msg_hil_actuator_controls_get_time_usec(const mav
*/
static inline uint16_t mavlink_msg_hil_actuator_controls_get_controls(const mavlink_message_t* msg, float *controls)
{
return _MAV_RETURN_float_array(msg, controls, 16, 16);
return _MAV_RETURN_float_array(msg, controls, 16, 4);
}
/**
@@ -246,7 +246,7 @@ static inline uint16_t mavlink_msg_hil_actuator_controls_get_controls(const mavl
*/
static inline uint8_t mavlink_msg_hil_actuator_controls_get_mode(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 80);
return _MAV_RETURN_uint8_t(msg, 72);
}
/**
@@ -254,9 +254,9 @@ static inline uint8_t mavlink_msg_hil_actuator_controls_get_mode(const mavlink_m
*
* @return Flags as bitfield, reserved for future use.
*/
static inline uint64_t mavlink_msg_hil_actuator_controls_get_flags(const mavlink_message_t* msg)
static inline uint32_t mavlink_msg_hil_actuator_controls_get_flags(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint64_t(msg, 8);
return _MAV_RETURN_uint32_t(msg, 68);
}
/**
@@ -269,8 +269,8 @@ static inline void mavlink_msg_hil_actuator_controls_decode(const mavlink_messag
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
hil_actuator_controls->time_usec = mavlink_msg_hil_actuator_controls_get_time_usec(msg);
hil_actuator_controls->flags = mavlink_msg_hil_actuator_controls_get_flags(msg);
mavlink_msg_hil_actuator_controls_get_controls(msg, hil_actuator_controls->controls);
hil_actuator_controls->flags = mavlink_msg_hil_actuator_controls_get_flags(msg);
hil_actuator_controls->mode = mavlink_msg_hil_actuator_controls_get_mode(msg);
#else
uint8_t len = msg->len < MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN? msg->len : MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN;