Lorenz Meier
330 lines
13 KiB
C
330 lines
13 KiB
C
// MESSAGE COMPASSMOT_STATUS PACKING
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#define MAVLINK_MSG_ID_COMPASSMOT_STATUS 177
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typedef struct __mavlink_compassmot_status_t
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{
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float current; ///< current (amps)
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float CompensationX; ///< Motor Compensation X
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float CompensationY; ///< Motor Compensation Y
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float CompensationZ; ///< Motor Compensation Z
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uint16_t throttle; ///< throttle (percent*10)
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uint16_t interference; ///< interference (percent)
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} mavlink_compassmot_status_t;
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#define MAVLINK_MSG_ID_COMPASSMOT_STATUS_LEN 20
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#define MAVLINK_MSG_ID_177_LEN 20
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#define MAVLINK_MSG_ID_COMPASSMOT_STATUS_CRC 240
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#define MAVLINK_MSG_ID_177_CRC 240
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#define MAVLINK_MESSAGE_INFO_COMPASSMOT_STATUS { \
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"COMPASSMOT_STATUS", \
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6, \
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{ { "current", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_compassmot_status_t, current) }, \
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{ "CompensationX", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_compassmot_status_t, CompensationX) }, \
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{ "CompensationY", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_compassmot_status_t, CompensationY) }, \
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{ "CompensationZ", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_compassmot_status_t, CompensationZ) }, \
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{ "throttle", NULL, MAVLINK_TYPE_UINT16_T, 0, 16, offsetof(mavlink_compassmot_status_t, throttle) }, \
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{ "interference", NULL, MAVLINK_TYPE_UINT16_T, 0, 18, offsetof(mavlink_compassmot_status_t, interference) }, \
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} \
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}
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/**
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* @brief Pack a compassmot_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 throttle throttle (percent*10)
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* @param current current (amps)
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* @param interference interference (percent)
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* @param CompensationX Motor Compensation X
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* @param CompensationY Motor Compensation Y
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* @param CompensationZ Motor Compensation Z
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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_compassmot_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint16_t throttle, float current, uint16_t interference, float CompensationX, float CompensationY, float CompensationZ)
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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_COMPASSMOT_STATUS_LEN];
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_mav_put_float(buf, 0, current);
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_mav_put_float(buf, 4, CompensationX);
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_mav_put_float(buf, 8, CompensationY);
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_mav_put_float(buf, 12, CompensationZ);
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_mav_put_uint16_t(buf, 16, throttle);
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_mav_put_uint16_t(buf, 18, interference);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_COMPASSMOT_STATUS_LEN);
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#else
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mavlink_compassmot_status_t packet;
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packet.current = current;
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packet.CompensationX = CompensationX;
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packet.CompensationY = CompensationY;
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packet.CompensationZ = CompensationZ;
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packet.throttle = throttle;
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packet.interference = interference;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_COMPASSMOT_STATUS_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_COMPASSMOT_STATUS;
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#if MAVLINK_CRC_EXTRA
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_COMPASSMOT_STATUS_LEN, MAVLINK_MSG_ID_COMPASSMOT_STATUS_CRC);
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#else
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_COMPASSMOT_STATUS_LEN);
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#endif
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}
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/**
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* @brief Pack a compassmot_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 throttle throttle (percent*10)
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* @param current current (amps)
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* @param interference interference (percent)
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* @param CompensationX Motor Compensation X
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* @param CompensationY Motor Compensation Y
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* @param CompensationZ Motor Compensation Z
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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_compassmot_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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uint16_t throttle,float current,uint16_t interference,float CompensationX,float CompensationY,float CompensationZ)
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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_COMPASSMOT_STATUS_LEN];
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_mav_put_float(buf, 0, current);
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_mav_put_float(buf, 4, CompensationX);
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_mav_put_float(buf, 8, CompensationY);
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_mav_put_float(buf, 12, CompensationZ);
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_mav_put_uint16_t(buf, 16, throttle);
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_mav_put_uint16_t(buf, 18, interference);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_COMPASSMOT_STATUS_LEN);
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#else
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mavlink_compassmot_status_t packet;
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packet.current = current;
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packet.CompensationX = CompensationX;
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packet.CompensationY = CompensationY;
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packet.CompensationZ = CompensationZ;
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packet.throttle = throttle;
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packet.interference = interference;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_COMPASSMOT_STATUS_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_COMPASSMOT_STATUS;
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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_COMPASSMOT_STATUS_LEN, MAVLINK_MSG_ID_COMPASSMOT_STATUS_CRC);
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#else
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_COMPASSMOT_STATUS_LEN);
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#endif
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}
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/**
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* @brief Encode a compassmot_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 compassmot_status C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_compassmot_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_compassmot_status_t* compassmot_status)
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{
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return mavlink_msg_compassmot_status_pack(system_id, component_id, msg, compassmot_status->throttle, compassmot_status->current, compassmot_status->interference, compassmot_status->CompensationX, compassmot_status->CompensationY, compassmot_status->CompensationZ);
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}
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/**
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* @brief Encode a compassmot_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 compassmot_status C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_compassmot_status_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_compassmot_status_t* compassmot_status)
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{
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return mavlink_msg_compassmot_status_pack_chan(system_id, component_id, chan, msg, compassmot_status->throttle, compassmot_status->current, compassmot_status->interference, compassmot_status->CompensationX, compassmot_status->CompensationY, compassmot_status->CompensationZ);
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}
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/**
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* @brief Send a compassmot_status message
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* @param chan MAVLink channel to send the message
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*
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* @param throttle throttle (percent*10)
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* @param current current (amps)
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* @param interference interference (percent)
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* @param CompensationX Motor Compensation X
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* @param CompensationY Motor Compensation Y
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* @param CompensationZ Motor Compensation Z
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_compassmot_status_send(mavlink_channel_t chan, uint16_t throttle, float current, uint16_t interference, float CompensationX, float CompensationY, float CompensationZ)
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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_COMPASSMOT_STATUS_LEN];
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_mav_put_float(buf, 0, current);
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_mav_put_float(buf, 4, CompensationX);
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_mav_put_float(buf, 8, CompensationY);
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_mav_put_float(buf, 12, CompensationZ);
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_mav_put_uint16_t(buf, 16, throttle);
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_mav_put_uint16_t(buf, 18, interference);
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#if MAVLINK_CRC_EXTRA
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMPASSMOT_STATUS, buf, MAVLINK_MSG_ID_COMPASSMOT_STATUS_LEN, MAVLINK_MSG_ID_COMPASSMOT_STATUS_CRC);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMPASSMOT_STATUS, buf, MAVLINK_MSG_ID_COMPASSMOT_STATUS_LEN);
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#endif
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#else
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mavlink_compassmot_status_t packet;
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packet.current = current;
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packet.CompensationX = CompensationX;
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packet.CompensationY = CompensationY;
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packet.CompensationZ = CompensationZ;
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packet.throttle = throttle;
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packet.interference = interference;
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#if MAVLINK_CRC_EXTRA
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMPASSMOT_STATUS, (const char *)&packet, MAVLINK_MSG_ID_COMPASSMOT_STATUS_LEN, MAVLINK_MSG_ID_COMPASSMOT_STATUS_CRC);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMPASSMOT_STATUS, (const char *)&packet, MAVLINK_MSG_ID_COMPASSMOT_STATUS_LEN);
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#endif
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#endif
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}
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#if MAVLINK_MSG_ID_COMPASSMOT_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_compassmot_status_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint16_t throttle, float current, uint16_t interference, float CompensationX, float CompensationY, float CompensationZ)
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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, current);
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_mav_put_float(buf, 4, CompensationX);
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_mav_put_float(buf, 8, CompensationY);
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_mav_put_float(buf, 12, CompensationZ);
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_mav_put_uint16_t(buf, 16, throttle);
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_mav_put_uint16_t(buf, 18, interference);
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#if MAVLINK_CRC_EXTRA
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMPASSMOT_STATUS, buf, MAVLINK_MSG_ID_COMPASSMOT_STATUS_LEN, MAVLINK_MSG_ID_COMPASSMOT_STATUS_CRC);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMPASSMOT_STATUS, buf, MAVLINK_MSG_ID_COMPASSMOT_STATUS_LEN);
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#endif
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#else
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mavlink_compassmot_status_t *packet = (mavlink_compassmot_status_t *)msgbuf;
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packet->current = current;
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packet->CompensationX = CompensationX;
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packet->CompensationY = CompensationY;
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packet->CompensationZ = CompensationZ;
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packet->throttle = throttle;
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packet->interference = interference;
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#if MAVLINK_CRC_EXTRA
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMPASSMOT_STATUS, (const char *)packet, MAVLINK_MSG_ID_COMPASSMOT_STATUS_LEN, MAVLINK_MSG_ID_COMPASSMOT_STATUS_CRC);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMPASSMOT_STATUS, (const char *)packet, MAVLINK_MSG_ID_COMPASSMOT_STATUS_LEN);
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#endif
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#endif
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}
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#endif
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#endif
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// MESSAGE COMPASSMOT_STATUS UNPACKING
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/**
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* @brief Get field throttle from compassmot_status message
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*
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* @return throttle (percent*10)
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*/
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static inline uint16_t mavlink_msg_compassmot_status_get_throttle(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint16_t(msg, 16);
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}
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/**
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* @brief Get field current from compassmot_status message
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*
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* @return current (amps)
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*/
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static inline float mavlink_msg_compassmot_status_get_current(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 interference from compassmot_status message
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*
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* @return interference (percent)
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*/
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static inline uint16_t mavlink_msg_compassmot_status_get_interference(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint16_t(msg, 18);
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}
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/**
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* @brief Get field CompensationX from compassmot_status message
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*
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* @return Motor Compensation X
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*/
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static inline float mavlink_msg_compassmot_status_get_CompensationX(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 CompensationY from compassmot_status message
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*
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* @return Motor Compensation Y
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*/
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static inline float mavlink_msg_compassmot_status_get_CompensationY(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 CompensationZ from compassmot_status message
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*
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* @return Motor Compensation Z
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*/
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static inline float mavlink_msg_compassmot_status_get_CompensationZ(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 Decode a compassmot_status message into a struct
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*
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* @param msg The message to decode
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* @param compassmot_status C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_compassmot_status_decode(const mavlink_message_t* msg, mavlink_compassmot_status_t* compassmot_status)
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{
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#if MAVLINK_NEED_BYTE_SWAP
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compassmot_status->current = mavlink_msg_compassmot_status_get_current(msg);
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compassmot_status->CompensationX = mavlink_msg_compassmot_status_get_CompensationX(msg);
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compassmot_status->CompensationY = mavlink_msg_compassmot_status_get_CompensationY(msg);
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compassmot_status->CompensationZ = mavlink_msg_compassmot_status_get_CompensationZ(msg);
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compassmot_status->throttle = mavlink_msg_compassmot_status_get_throttle(msg);
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compassmot_status->interference = mavlink_msg_compassmot_status_get_interference(msg);
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#else
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memcpy(compassmot_status, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_COMPASSMOT_STATUS_LEN);
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#endif
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}
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