Lorenz Meier
354 lines
13 KiB
C
354 lines
13 KiB
C
// MESSAGE SETPOINT_6DOF PACKING
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#define MAVLINK_MSG_ID_SETPOINT_6DOF 149
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typedef struct __mavlink_setpoint_6dof_t
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{
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float trans_x; ///< Translational Component in x
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float trans_y; ///< Translational Component in y
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float trans_z; ///< Translational Component in z
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float rot_x; ///< Rotational Component in x
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float rot_y; ///< Rotational Component in y
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float rot_z; ///< Rotational Component in z
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uint8_t target_system; ///< System ID
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} mavlink_setpoint_6dof_t;
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#define MAVLINK_MSG_ID_SETPOINT_6DOF_LEN 25
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#define MAVLINK_MSG_ID_149_LEN 25
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#define MAVLINK_MSG_ID_SETPOINT_6DOF_CRC 15
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#define MAVLINK_MSG_ID_149_CRC 15
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#define MAVLINK_MESSAGE_INFO_SETPOINT_6DOF { \
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"SETPOINT_6DOF", \
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7, \
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{ { "trans_x", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_setpoint_6dof_t, trans_x) }, \
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{ "trans_y", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_setpoint_6dof_t, trans_y) }, \
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{ "trans_z", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_setpoint_6dof_t, trans_z) }, \
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{ "rot_x", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_setpoint_6dof_t, rot_x) }, \
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{ "rot_y", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_setpoint_6dof_t, rot_y) }, \
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{ "rot_z", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_setpoint_6dof_t, rot_z) }, \
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{ "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 24, offsetof(mavlink_setpoint_6dof_t, target_system) }, \
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} \
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}
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/**
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* @brief Pack a setpoint_6dof 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 trans_x Translational Component in x
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* @param trans_y Translational Component in y
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* @param trans_z Translational Component in z
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* @param rot_x Rotational Component in x
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* @param rot_y Rotational Component in y
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* @param rot_z Rotational Component in 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_setpoint_6dof_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint8_t target_system, float trans_x, float trans_y, float trans_z, float rot_x, float rot_y, float rot_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_SETPOINT_6DOF_LEN];
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_mav_put_float(buf, 0, trans_x);
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_mav_put_float(buf, 4, trans_y);
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_mav_put_float(buf, 8, trans_z);
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_mav_put_float(buf, 12, rot_x);
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_mav_put_float(buf, 16, rot_y);
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_mav_put_float(buf, 20, rot_z);
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_mav_put_uint8_t(buf, 24, target_system);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SETPOINT_6DOF_LEN);
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#else
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mavlink_setpoint_6dof_t packet;
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packet.trans_x = trans_x;
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packet.trans_y = trans_y;
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packet.trans_z = trans_z;
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packet.rot_x = rot_x;
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packet.rot_y = rot_y;
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packet.rot_z = rot_z;
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packet.target_system = target_system;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SETPOINT_6DOF_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_SETPOINT_6DOF;
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#if MAVLINK_CRC_EXTRA
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SETPOINT_6DOF_LEN, MAVLINK_MSG_ID_SETPOINT_6DOF_CRC);
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#else
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SETPOINT_6DOF_LEN);
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#endif
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}
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/**
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* @brief Pack a setpoint_6dof 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 trans_x Translational Component in x
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* @param trans_y Translational Component in y
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* @param trans_z Translational Component in z
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* @param rot_x Rotational Component in x
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* @param rot_y Rotational Component in y
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* @param rot_z Rotational Component in 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_setpoint_6dof_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,float trans_x,float trans_y,float trans_z,float rot_x,float rot_y,float rot_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_SETPOINT_6DOF_LEN];
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_mav_put_float(buf, 0, trans_x);
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_mav_put_float(buf, 4, trans_y);
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_mav_put_float(buf, 8, trans_z);
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_mav_put_float(buf, 12, rot_x);
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_mav_put_float(buf, 16, rot_y);
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_mav_put_float(buf, 20, rot_z);
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_mav_put_uint8_t(buf, 24, target_system);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SETPOINT_6DOF_LEN);
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#else
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mavlink_setpoint_6dof_t packet;
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packet.trans_x = trans_x;
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packet.trans_y = trans_y;
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packet.trans_z = trans_z;
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packet.rot_x = rot_x;
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packet.rot_y = rot_y;
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packet.rot_z = rot_z;
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packet.target_system = target_system;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SETPOINT_6DOF_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_SETPOINT_6DOF;
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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_SETPOINT_6DOF_LEN, MAVLINK_MSG_ID_SETPOINT_6DOF_CRC);
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#else
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SETPOINT_6DOF_LEN);
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#endif
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}
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/**
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* @brief Encode a setpoint_6dof 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 setpoint_6dof C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_setpoint_6dof_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_setpoint_6dof_t* setpoint_6dof)
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{
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return mavlink_msg_setpoint_6dof_pack(system_id, component_id, msg, setpoint_6dof->target_system, setpoint_6dof->trans_x, setpoint_6dof->trans_y, setpoint_6dof->trans_z, setpoint_6dof->rot_x, setpoint_6dof->rot_y, setpoint_6dof->rot_z);
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}
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/**
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* @brief Encode a setpoint_6dof 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 setpoint_6dof C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_setpoint_6dof_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_setpoint_6dof_t* setpoint_6dof)
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{
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return mavlink_msg_setpoint_6dof_pack_chan(system_id, component_id, chan, msg, setpoint_6dof->target_system, setpoint_6dof->trans_x, setpoint_6dof->trans_y, setpoint_6dof->trans_z, setpoint_6dof->rot_x, setpoint_6dof->rot_y, setpoint_6dof->rot_z);
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}
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/**
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* @brief Send a setpoint_6dof 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 trans_x Translational Component in x
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* @param trans_y Translational Component in y
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* @param trans_z Translational Component in z
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* @param rot_x Rotational Component in x
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* @param rot_y Rotational Component in y
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* @param rot_z Rotational Component in z
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_setpoint_6dof_send(mavlink_channel_t chan, uint8_t target_system, float trans_x, float trans_y, float trans_z, float rot_x, float rot_y, float rot_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_SETPOINT_6DOF_LEN];
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_mav_put_float(buf, 0, trans_x);
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_mav_put_float(buf, 4, trans_y);
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_mav_put_float(buf, 8, trans_z);
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_mav_put_float(buf, 12, rot_x);
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_mav_put_float(buf, 16, rot_y);
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_mav_put_float(buf, 20, rot_z);
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_mav_put_uint8_t(buf, 24, target_system);
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#if MAVLINK_CRC_EXTRA
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SETPOINT_6DOF, buf, MAVLINK_MSG_ID_SETPOINT_6DOF_LEN, MAVLINK_MSG_ID_SETPOINT_6DOF_CRC);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SETPOINT_6DOF, buf, MAVLINK_MSG_ID_SETPOINT_6DOF_LEN);
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#endif
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#else
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mavlink_setpoint_6dof_t packet;
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packet.trans_x = trans_x;
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packet.trans_y = trans_y;
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packet.trans_z = trans_z;
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packet.rot_x = rot_x;
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packet.rot_y = rot_y;
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packet.rot_z = rot_z;
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packet.target_system = target_system;
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#if MAVLINK_CRC_EXTRA
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SETPOINT_6DOF, (const char *)&packet, MAVLINK_MSG_ID_SETPOINT_6DOF_LEN, MAVLINK_MSG_ID_SETPOINT_6DOF_CRC);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SETPOINT_6DOF, (const char *)&packet, MAVLINK_MSG_ID_SETPOINT_6DOF_LEN);
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#endif
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#endif
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}
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#if MAVLINK_MSG_ID_SETPOINT_6DOF_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_setpoint_6dof_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, float trans_x, float trans_y, float trans_z, float rot_x, float rot_y, float rot_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, trans_x);
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_mav_put_float(buf, 4, trans_y);
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_mav_put_float(buf, 8, trans_z);
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_mav_put_float(buf, 12, rot_x);
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_mav_put_float(buf, 16, rot_y);
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_mav_put_float(buf, 20, rot_z);
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_mav_put_uint8_t(buf, 24, target_system);
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#if MAVLINK_CRC_EXTRA
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SETPOINT_6DOF, buf, MAVLINK_MSG_ID_SETPOINT_6DOF_LEN, MAVLINK_MSG_ID_SETPOINT_6DOF_CRC);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SETPOINT_6DOF, buf, MAVLINK_MSG_ID_SETPOINT_6DOF_LEN);
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#endif
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#else
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mavlink_setpoint_6dof_t *packet = (mavlink_setpoint_6dof_t *)msgbuf;
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packet->trans_x = trans_x;
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packet->trans_y = trans_y;
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packet->trans_z = trans_z;
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packet->rot_x = rot_x;
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packet->rot_y = rot_y;
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packet->rot_z = rot_z;
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packet->target_system = target_system;
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#if MAVLINK_CRC_EXTRA
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SETPOINT_6DOF, (const char *)packet, MAVLINK_MSG_ID_SETPOINT_6DOF_LEN, MAVLINK_MSG_ID_SETPOINT_6DOF_CRC);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SETPOINT_6DOF, (const char *)packet, MAVLINK_MSG_ID_SETPOINT_6DOF_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 SETPOINT_6DOF UNPACKING
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/**
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* @brief Get field target_system from setpoint_6dof message
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*
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* @return System ID
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*/
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static inline uint8_t mavlink_msg_setpoint_6dof_get_target_system(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 24);
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}
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/**
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* @brief Get field trans_x from setpoint_6dof message
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*
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* @return Translational Component in x
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*/
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static inline float mavlink_msg_setpoint_6dof_get_trans_x(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 trans_y from setpoint_6dof message
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*
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* @return Translational Component in y
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*/
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static inline float mavlink_msg_setpoint_6dof_get_trans_y(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 trans_z from setpoint_6dof message
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*
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* @return Translational Component in z
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*/
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static inline float mavlink_msg_setpoint_6dof_get_trans_z(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 rot_x from setpoint_6dof message
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*
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* @return Rotational Component in x
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*/
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static inline float mavlink_msg_setpoint_6dof_get_rot_x(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 rot_y from setpoint_6dof message
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*
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* @return Rotational Component in y
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*/
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static inline float mavlink_msg_setpoint_6dof_get_rot_y(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 16);
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}
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/**
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* @brief Get field rot_z from setpoint_6dof message
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*
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* @return Rotational Component in z
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*/
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static inline float mavlink_msg_setpoint_6dof_get_rot_z(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 20);
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}
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/**
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* @brief Decode a setpoint_6dof message into a struct
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*
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* @param msg The message to decode
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* @param setpoint_6dof C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_setpoint_6dof_decode(const mavlink_message_t* msg, mavlink_setpoint_6dof_t* setpoint_6dof)
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{
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#if MAVLINK_NEED_BYTE_SWAP
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setpoint_6dof->trans_x = mavlink_msg_setpoint_6dof_get_trans_x(msg);
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setpoint_6dof->trans_y = mavlink_msg_setpoint_6dof_get_trans_y(msg);
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setpoint_6dof->trans_z = mavlink_msg_setpoint_6dof_get_trans_z(msg);
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setpoint_6dof->rot_x = mavlink_msg_setpoint_6dof_get_rot_x(msg);
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setpoint_6dof->rot_y = mavlink_msg_setpoint_6dof_get_rot_y(msg);
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setpoint_6dof->rot_z = mavlink_msg_setpoint_6dof_get_rot_z(msg);
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setpoint_6dof->target_system = mavlink_msg_setpoint_6dof_get_target_system(msg);
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#else
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memcpy(setpoint_6dof, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_SETPOINT_6DOF_LEN);
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#endif
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}
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