457 lines
25 KiB
C
457 lines
25 KiB
C
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#pragma once
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// MESSAGE GIMBAL_DEVICE_INFORMATION PACKING
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#define MAVLINK_MSG_ID_GIMBAL_DEVICE_INFORMATION 283
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typedef struct __mavlink_gimbal_device_information_t {
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uint32_t time_boot_ms; /*< [ms] Timestamp (time since system boot).*/
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uint32_t firmware_version; /*< Version of the gimbal firmware, encoded as: (Dev & 0xff) << 24 | (Patch & 0xff) << 16 | (Minor & 0xff) << 8 | (Major & 0xff)*/
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float tilt_max; /*< [rad] Maximum tilt/pitch angle (positive: up, negative: down)*/
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float tilt_min; /*< [rad] Minimum tilt/pitch angle (positive: up, negative: down)*/
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float tilt_rate_max; /*< [rad/s] Maximum tilt/pitch angular rate (positive: up, negative: down)*/
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float pan_max; /*< [rad] Maximum pan/yaw angle (positive: to the right, negative: to the left)*/
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float pan_min; /*< [rad] Minimum pan/yaw angle (positive: to the right, negative: to the left)*/
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float pan_rate_max; /*< [rad/s] Minimum pan/yaw angular rate (positive: to the right, negative: to the left)*/
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uint16_t cap_flags; /*< Bitmap of gimbal capability flags.*/
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uint8_t vendor_name[32]; /*< Name of the gimbal vendor*/
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uint8_t model_name[32]; /*< Name of the gimbal model*/
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} mavlink_gimbal_device_information_t;
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#define MAVLINK_MSG_ID_GIMBAL_DEVICE_INFORMATION_LEN 98
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#define MAVLINK_MSG_ID_GIMBAL_DEVICE_INFORMATION_MIN_LEN 98
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#define MAVLINK_MSG_ID_283_LEN 98
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#define MAVLINK_MSG_ID_283_MIN_LEN 98
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#define MAVLINK_MSG_ID_GIMBAL_DEVICE_INFORMATION_CRC 247
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#define MAVLINK_MSG_ID_283_CRC 247
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#define MAVLINK_MSG_GIMBAL_DEVICE_INFORMATION_FIELD_VENDOR_NAME_LEN 32
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#define MAVLINK_MSG_GIMBAL_DEVICE_INFORMATION_FIELD_MODEL_NAME_LEN 32
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_GIMBAL_DEVICE_INFORMATION { \
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283, \
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"GIMBAL_DEVICE_INFORMATION", \
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11, \
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{ { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_gimbal_device_information_t, time_boot_ms) }, \
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{ "vendor_name", NULL, MAVLINK_TYPE_UINT8_T, 32, 34, offsetof(mavlink_gimbal_device_information_t, vendor_name) }, \
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{ "model_name", NULL, MAVLINK_TYPE_UINT8_T, 32, 66, offsetof(mavlink_gimbal_device_information_t, model_name) }, \
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{ "firmware_version", NULL, MAVLINK_TYPE_UINT32_T, 0, 4, offsetof(mavlink_gimbal_device_information_t, firmware_version) }, \
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{ "cap_flags", NULL, MAVLINK_TYPE_UINT16_T, 0, 32, offsetof(mavlink_gimbal_device_information_t, cap_flags) }, \
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{ "tilt_max", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_gimbal_device_information_t, tilt_max) }, \
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{ "tilt_min", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_gimbal_device_information_t, tilt_min) }, \
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{ "tilt_rate_max", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_gimbal_device_information_t, tilt_rate_max) }, \
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{ "pan_max", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_gimbal_device_information_t, pan_max) }, \
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{ "pan_min", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_gimbal_device_information_t, pan_min) }, \
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{ "pan_rate_max", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_gimbal_device_information_t, pan_rate_max) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_GIMBAL_DEVICE_INFORMATION { \
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"GIMBAL_DEVICE_INFORMATION", \
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11, \
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{ { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_gimbal_device_information_t, time_boot_ms) }, \
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{ "vendor_name", NULL, MAVLINK_TYPE_UINT8_T, 32, 34, offsetof(mavlink_gimbal_device_information_t, vendor_name) }, \
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{ "model_name", NULL, MAVLINK_TYPE_UINT8_T, 32, 66, offsetof(mavlink_gimbal_device_information_t, model_name) }, \
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{ "firmware_version", NULL, MAVLINK_TYPE_UINT32_T, 0, 4, offsetof(mavlink_gimbal_device_information_t, firmware_version) }, \
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{ "cap_flags", NULL, MAVLINK_TYPE_UINT16_T, 0, 32, offsetof(mavlink_gimbal_device_information_t, cap_flags) }, \
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{ "tilt_max", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_gimbal_device_information_t, tilt_max) }, \
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{ "tilt_min", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_gimbal_device_information_t, tilt_min) }, \
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{ "tilt_rate_max", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_gimbal_device_information_t, tilt_rate_max) }, \
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{ "pan_max", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_gimbal_device_information_t, pan_max) }, \
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{ "pan_min", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_gimbal_device_information_t, pan_min) }, \
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{ "pan_rate_max", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_gimbal_device_information_t, pan_rate_max) }, \
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} \
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}
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#endif
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/**
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* @brief Pack a gimbal_device_information 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 time_boot_ms [ms] Timestamp (time since system boot).
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* @param vendor_name Name of the gimbal vendor
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* @param model_name Name of the gimbal model
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* @param firmware_version Version of the gimbal firmware, encoded as: (Dev & 0xff) << 24 | (Patch & 0xff) << 16 | (Minor & 0xff) << 8 | (Major & 0xff)
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* @param cap_flags Bitmap of gimbal capability flags.
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* @param tilt_max [rad] Maximum tilt/pitch angle (positive: up, negative: down)
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* @param tilt_min [rad] Minimum tilt/pitch angle (positive: up, negative: down)
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* @param tilt_rate_max [rad/s] Maximum tilt/pitch angular rate (positive: up, negative: down)
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* @param pan_max [rad] Maximum pan/yaw angle (positive: to the right, negative: to the left)
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* @param pan_min [rad] Minimum pan/yaw angle (positive: to the right, negative: to the left)
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* @param pan_rate_max [rad/s] Minimum pan/yaw angular rate (positive: to the right, negative: to the left)
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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_device_information_pack(uint16_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint32_t time_boot_ms, const uint8_t *vendor_name, const uint8_t *model_name, uint32_t firmware_version, uint16_t cap_flags, float tilt_max, float tilt_min, float tilt_rate_max, float pan_max, float pan_min, float pan_rate_max)
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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_DEVICE_INFORMATION_LEN];
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_mav_put_uint32_t(buf, 0, time_boot_ms);
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_mav_put_uint32_t(buf, 4, firmware_version);
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_mav_put_float(buf, 8, tilt_max);
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_mav_put_float(buf, 12, tilt_min);
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_mav_put_float(buf, 16, tilt_rate_max);
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_mav_put_float(buf, 20, pan_max);
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_mav_put_float(buf, 24, pan_min);
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_mav_put_float(buf, 28, pan_rate_max);
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_mav_put_uint16_t(buf, 32, cap_flags);
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_mav_put_uint8_t_array(buf, 34, vendor_name, 32);
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_mav_put_uint8_t_array(buf, 66, model_name, 32);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GIMBAL_DEVICE_INFORMATION_LEN);
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#else
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mavlink_gimbal_device_information_t packet;
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packet.time_boot_ms = time_boot_ms;
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packet.firmware_version = firmware_version;
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packet.tilt_max = tilt_max;
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packet.tilt_min = tilt_min;
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packet.tilt_rate_max = tilt_rate_max;
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packet.pan_max = pan_max;
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packet.pan_min = pan_min;
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packet.pan_rate_max = pan_rate_max;
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packet.cap_flags = cap_flags;
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mav_array_memcpy(packet.vendor_name, vendor_name, sizeof(uint8_t)*32);
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mav_array_memcpy(packet.model_name, model_name, sizeof(uint8_t)*32);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GIMBAL_DEVICE_INFORMATION_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_GIMBAL_DEVICE_INFORMATION;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GIMBAL_DEVICE_INFORMATION_MIN_LEN, MAVLINK_MSG_ID_GIMBAL_DEVICE_INFORMATION_LEN, MAVLINK_MSG_ID_GIMBAL_DEVICE_INFORMATION_CRC);
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}
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/**
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* @brief Pack a gimbal_device_information 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 time_boot_ms [ms] Timestamp (time since system boot).
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* @param vendor_name Name of the gimbal vendor
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* @param model_name Name of the gimbal model
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* @param firmware_version Version of the gimbal firmware, encoded as: (Dev & 0xff) << 24 | (Patch & 0xff) << 16 | (Minor & 0xff) << 8 | (Major & 0xff)
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* @param cap_flags Bitmap of gimbal capability flags.
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* @param tilt_max [rad] Maximum tilt/pitch angle (positive: up, negative: down)
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* @param tilt_min [rad] Minimum tilt/pitch angle (positive: up, negative: down)
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* @param tilt_rate_max [rad/s] Maximum tilt/pitch angular rate (positive: up, negative: down)
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* @param pan_max [rad] Maximum pan/yaw angle (positive: to the right, negative: to the left)
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* @param pan_min [rad] Minimum pan/yaw angle (positive: to the right, negative: to the left)
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* @param pan_rate_max [rad/s] Minimum pan/yaw angular rate (positive: to the right, negative: to the left)
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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_device_information_pack_chan(uint16_t system_id, uint8_t component_id, uint8_t chan,
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mavlink_message_t* msg,
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uint32_t time_boot_ms,const uint8_t *vendor_name,const uint8_t *model_name,uint32_t firmware_version,uint16_t cap_flags,float tilt_max,float tilt_min,float tilt_rate_max,float pan_max,float pan_min,float pan_rate_max)
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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_DEVICE_INFORMATION_LEN];
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_mav_put_uint32_t(buf, 0, time_boot_ms);
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_mav_put_uint32_t(buf, 4, firmware_version);
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_mav_put_float(buf, 8, tilt_max);
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_mav_put_float(buf, 12, tilt_min);
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_mav_put_float(buf, 16, tilt_rate_max);
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_mav_put_float(buf, 20, pan_max);
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_mav_put_float(buf, 24, pan_min);
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_mav_put_float(buf, 28, pan_rate_max);
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_mav_put_uint16_t(buf, 32, cap_flags);
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_mav_put_uint8_t_array(buf, 34, vendor_name, 32);
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_mav_put_uint8_t_array(buf, 66, model_name, 32);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GIMBAL_DEVICE_INFORMATION_LEN);
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#else
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mavlink_gimbal_device_information_t packet;
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packet.time_boot_ms = time_boot_ms;
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packet.firmware_version = firmware_version;
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packet.tilt_max = tilt_max;
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packet.tilt_min = tilt_min;
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packet.tilt_rate_max = tilt_rate_max;
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packet.pan_max = pan_max;
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packet.pan_min = pan_min;
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packet.pan_rate_max = pan_rate_max;
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packet.cap_flags = cap_flags;
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mav_array_memcpy(packet.vendor_name, vendor_name, sizeof(uint8_t)*32);
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mav_array_memcpy(packet.model_name, model_name, sizeof(uint8_t)*32);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GIMBAL_DEVICE_INFORMATION_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_GIMBAL_DEVICE_INFORMATION;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GIMBAL_DEVICE_INFORMATION_MIN_LEN, MAVLINK_MSG_ID_GIMBAL_DEVICE_INFORMATION_LEN, MAVLINK_MSG_ID_GIMBAL_DEVICE_INFORMATION_CRC);
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}
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/**
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* @brief Encode a gimbal_device_information 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_device_information C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_gimbal_device_information_encode(uint16_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gimbal_device_information_t* gimbal_device_information)
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{
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return mavlink_msg_gimbal_device_information_pack(system_id, component_id, msg, gimbal_device_information->time_boot_ms, gimbal_device_information->vendor_name, gimbal_device_information->model_name, gimbal_device_information->firmware_version, gimbal_device_information->cap_flags, gimbal_device_information->tilt_max, gimbal_device_information->tilt_min, gimbal_device_information->tilt_rate_max, gimbal_device_information->pan_max, gimbal_device_information->pan_min, gimbal_device_information->pan_rate_max);
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}
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/**
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* @brief Encode a gimbal_device_information 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_device_information C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_gimbal_device_information_encode_chan(uint16_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_gimbal_device_information_t* gimbal_device_information)
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{
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return mavlink_msg_gimbal_device_information_pack_chan(system_id, component_id, chan, msg, gimbal_device_information->time_boot_ms, gimbal_device_information->vendor_name, gimbal_device_information->model_name, gimbal_device_information->firmware_version, gimbal_device_information->cap_flags, gimbal_device_information->tilt_max, gimbal_device_information->tilt_min, gimbal_device_information->tilt_rate_max, gimbal_device_information->pan_max, gimbal_device_information->pan_min, gimbal_device_information->pan_rate_max);
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}
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/**
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* @brief Send a gimbal_device_information message
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* @param chan MAVLink channel to send the message
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*
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* @param time_boot_ms [ms] Timestamp (time since system boot).
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* @param vendor_name Name of the gimbal vendor
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* @param model_name Name of the gimbal model
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* @param firmware_version Version of the gimbal firmware, encoded as: (Dev & 0xff) << 24 | (Patch & 0xff) << 16 | (Minor & 0xff) << 8 | (Major & 0xff)
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* @param cap_flags Bitmap of gimbal capability flags.
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* @param tilt_max [rad] Maximum tilt/pitch angle (positive: up, negative: down)
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* @param tilt_min [rad] Minimum tilt/pitch angle (positive: up, negative: down)
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* @param tilt_rate_max [rad/s] Maximum tilt/pitch angular rate (positive: up, negative: down)
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* @param pan_max [rad] Maximum pan/yaw angle (positive: to the right, negative: to the left)
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* @param pan_min [rad] Minimum pan/yaw angle (positive: to the right, negative: to the left)
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* @param pan_rate_max [rad/s] Minimum pan/yaw angular rate (positive: to the right, negative: to the left)
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_gimbal_device_information_send(mavlink_channel_t chan, uint32_t time_boot_ms, const uint8_t *vendor_name, const uint8_t *model_name, uint32_t firmware_version, uint16_t cap_flags, float tilt_max, float tilt_min, float tilt_rate_max, float pan_max, float pan_min, float pan_rate_max)
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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_DEVICE_INFORMATION_LEN];
|
||
|
|
_mav_put_uint32_t(buf, 0, time_boot_ms);
|
||
|
|
_mav_put_uint32_t(buf, 4, firmware_version);
|
||
|
|
_mav_put_float(buf, 8, tilt_max);
|
||
|
|
_mav_put_float(buf, 12, tilt_min);
|
||
|
|
_mav_put_float(buf, 16, tilt_rate_max);
|
||
|
|
_mav_put_float(buf, 20, pan_max);
|
||
|
|
_mav_put_float(buf, 24, pan_min);
|
||
|
|
_mav_put_float(buf, 28, pan_rate_max);
|
||
|
|
_mav_put_uint16_t(buf, 32, cap_flags);
|
||
|
|
_mav_put_uint8_t_array(buf, 34, vendor_name, 32);
|
||
|
|
_mav_put_uint8_t_array(buf, 66, model_name, 32);
|
||
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GIMBAL_DEVICE_INFORMATION, buf, MAVLINK_MSG_ID_GIMBAL_DEVICE_INFORMATION_MIN_LEN, MAVLINK_MSG_ID_GIMBAL_DEVICE_INFORMATION_LEN, MAVLINK_MSG_ID_GIMBAL_DEVICE_INFORMATION_CRC);
|
||
|
|
#else
|
||
|
|
mavlink_gimbal_device_information_t packet;
|
||
|
|
packet.time_boot_ms = time_boot_ms;
|
||
|
|
packet.firmware_version = firmware_version;
|
||
|
|
packet.tilt_max = tilt_max;
|
||
|
|
packet.tilt_min = tilt_min;
|
||
|
|
packet.tilt_rate_max = tilt_rate_max;
|
||
|
|
packet.pan_max = pan_max;
|
||
|
|
packet.pan_min = pan_min;
|
||
|
|
packet.pan_rate_max = pan_rate_max;
|
||
|
|
packet.cap_flags = cap_flags;
|
||
|
|
mav_array_memcpy(packet.vendor_name, vendor_name, sizeof(uint8_t)*32);
|
||
|
|
mav_array_memcpy(packet.model_name, model_name, sizeof(uint8_t)*32);
|
||
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GIMBAL_DEVICE_INFORMATION, (const char *)&packet, MAVLINK_MSG_ID_GIMBAL_DEVICE_INFORMATION_MIN_LEN, MAVLINK_MSG_ID_GIMBAL_DEVICE_INFORMATION_LEN, MAVLINK_MSG_ID_GIMBAL_DEVICE_INFORMATION_CRC);
|
||
|
|
#endif
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Send a gimbal_device_information message
|
||
|
|
* @param chan MAVLink channel to send the message
|
||
|
|
* @param struct The MAVLink struct to serialize
|
||
|
|
*/
|
||
|
|
static inline void mavlink_msg_gimbal_device_information_send_struct(mavlink_channel_t chan, const mavlink_gimbal_device_information_t* gimbal_device_information)
|
||
|
|
{
|
||
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||
|
|
mavlink_msg_gimbal_device_information_send(chan, gimbal_device_information->time_boot_ms, gimbal_device_information->vendor_name, gimbal_device_information->model_name, gimbal_device_information->firmware_version, gimbal_device_information->cap_flags, gimbal_device_information->tilt_max, gimbal_device_information->tilt_min, gimbal_device_information->tilt_rate_max, gimbal_device_information->pan_max, gimbal_device_information->pan_min, gimbal_device_information->pan_rate_max);
|
||
|
|
#else
|
||
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GIMBAL_DEVICE_INFORMATION, (const char *)gimbal_device_information, MAVLINK_MSG_ID_GIMBAL_DEVICE_INFORMATION_MIN_LEN, MAVLINK_MSG_ID_GIMBAL_DEVICE_INFORMATION_LEN, MAVLINK_MSG_ID_GIMBAL_DEVICE_INFORMATION_CRC);
|
||
|
|
#endif
|
||
|
|
}
|
||
|
|
|
||
|
|
#if MAVLINK_MSG_ID_GIMBAL_DEVICE_INFORMATION_LEN <= MAVLINK_MAX_PAYLOAD_LEN
|
||
|
|
/*
|
||
|
|
This varient of _send() can be used to save stack space by re-using
|
||
|
|
memory from the receive buffer. The caller provides a
|
||
|
|
mavlink_message_t which is the size of a full mavlink message. This
|
||
|
|
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_gimbal_device_information_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, const uint8_t *vendor_name, const uint8_t *model_name, uint32_t firmware_version, uint16_t cap_flags, float tilt_max, float tilt_min, float tilt_rate_max, float pan_max, float pan_min, float pan_rate_max)
|
||
|
|
{
|
||
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||
|
|
char *buf = (char *)msgbuf;
|
||
|
|
_mav_put_uint32_t(buf, 0, time_boot_ms);
|
||
|
|
_mav_put_uint32_t(buf, 4, firmware_version);
|
||
|
|
_mav_put_float(buf, 8, tilt_max);
|
||
|
|
_mav_put_float(buf, 12, tilt_min);
|
||
|
|
_mav_put_float(buf, 16, tilt_rate_max);
|
||
|
|
_mav_put_float(buf, 20, pan_max);
|
||
|
|
_mav_put_float(buf, 24, pan_min);
|
||
|
|
_mav_put_float(buf, 28, pan_rate_max);
|
||
|
|
_mav_put_uint16_t(buf, 32, cap_flags);
|
||
|
|
_mav_put_uint8_t_array(buf, 34, vendor_name, 32);
|
||
|
|
_mav_put_uint8_t_array(buf, 66, model_name, 32);
|
||
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GIMBAL_DEVICE_INFORMATION, buf, MAVLINK_MSG_ID_GIMBAL_DEVICE_INFORMATION_MIN_LEN, MAVLINK_MSG_ID_GIMBAL_DEVICE_INFORMATION_LEN, MAVLINK_MSG_ID_GIMBAL_DEVICE_INFORMATION_CRC);
|
||
|
|
#else
|
||
|
|
mavlink_gimbal_device_information_t *packet = (mavlink_gimbal_device_information_t *)msgbuf;
|
||
|
|
packet->time_boot_ms = time_boot_ms;
|
||
|
|
packet->firmware_version = firmware_version;
|
||
|
|
packet->tilt_max = tilt_max;
|
||
|
|
packet->tilt_min = tilt_min;
|
||
|
|
packet->tilt_rate_max = tilt_rate_max;
|
||
|
|
packet->pan_max = pan_max;
|
||
|
|
packet->pan_min = pan_min;
|
||
|
|
packet->pan_rate_max = pan_rate_max;
|
||
|
|
packet->cap_flags = cap_flags;
|
||
|
|
mav_array_memcpy(packet->vendor_name, vendor_name, sizeof(uint8_t)*32);
|
||
|
|
mav_array_memcpy(packet->model_name, model_name, sizeof(uint8_t)*32);
|
||
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GIMBAL_DEVICE_INFORMATION, (const char *)packet, MAVLINK_MSG_ID_GIMBAL_DEVICE_INFORMATION_MIN_LEN, MAVLINK_MSG_ID_GIMBAL_DEVICE_INFORMATION_LEN, MAVLINK_MSG_ID_GIMBAL_DEVICE_INFORMATION_CRC);
|
||
|
|
#endif
|
||
|
|
}
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#endif
|
||
|
|
|
||
|
|
// MESSAGE GIMBAL_DEVICE_INFORMATION UNPACKING
|
||
|
|
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field time_boot_ms from gimbal_device_information message
|
||
|
|
*
|
||
|
|
* @return [ms] Timestamp (time since system boot).
|
||
|
|
*/
|
||
|
|
static inline uint32_t mavlink_msg_gimbal_device_information_get_time_boot_ms(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_uint32_t(msg, 0);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field vendor_name from gimbal_device_information message
|
||
|
|
*
|
||
|
|
* @return Name of the gimbal vendor
|
||
|
|
*/
|
||
|
|
static inline uint16_t mavlink_msg_gimbal_device_information_get_vendor_name(const mavlink_message_t* msg, uint8_t *vendor_name)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_uint8_t_array(msg, vendor_name, 32, 34);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field model_name from gimbal_device_information message
|
||
|
|
*
|
||
|
|
* @return Name of the gimbal model
|
||
|
|
*/
|
||
|
|
static inline uint16_t mavlink_msg_gimbal_device_information_get_model_name(const mavlink_message_t* msg, uint8_t *model_name)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_uint8_t_array(msg, model_name, 32, 66);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field firmware_version from gimbal_device_information message
|
||
|
|
*
|
||
|
|
* @return Version of the gimbal firmware, encoded as: (Dev & 0xff) << 24 | (Patch & 0xff) << 16 | (Minor & 0xff) << 8 | (Major & 0xff)
|
||
|
|
*/
|
||
|
|
static inline uint32_t mavlink_msg_gimbal_device_information_get_firmware_version(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_uint32_t(msg, 4);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field cap_flags from gimbal_device_information message
|
||
|
|
*
|
||
|
|
* @return Bitmap of gimbal capability flags.
|
||
|
|
*/
|
||
|
|
static inline uint16_t mavlink_msg_gimbal_device_information_get_cap_flags(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_uint16_t(msg, 32);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field tilt_max from gimbal_device_information message
|
||
|
|
*
|
||
|
|
* @return [rad] Maximum tilt/pitch angle (positive: up, negative: down)
|
||
|
|
*/
|
||
|
|
static inline float mavlink_msg_gimbal_device_information_get_tilt_max(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_float(msg, 8);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field tilt_min from gimbal_device_information message
|
||
|
|
*
|
||
|
|
* @return [rad] Minimum tilt/pitch angle (positive: up, negative: down)
|
||
|
|
*/
|
||
|
|
static inline float mavlink_msg_gimbal_device_information_get_tilt_min(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_float(msg, 12);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field tilt_rate_max from gimbal_device_information message
|
||
|
|
*
|
||
|
|
* @return [rad/s] Maximum tilt/pitch angular rate (positive: up, negative: down)
|
||
|
|
*/
|
||
|
|
static inline float mavlink_msg_gimbal_device_information_get_tilt_rate_max(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_float(msg, 16);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field pan_max from gimbal_device_information message
|
||
|
|
*
|
||
|
|
* @return [rad] Maximum pan/yaw angle (positive: to the right, negative: to the left)
|
||
|
|
*/
|
||
|
|
static inline float mavlink_msg_gimbal_device_information_get_pan_max(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_float(msg, 20);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field pan_min from gimbal_device_information message
|
||
|
|
*
|
||
|
|
* @return [rad] Minimum pan/yaw angle (positive: to the right, negative: to the left)
|
||
|
|
*/
|
||
|
|
static inline float mavlink_msg_gimbal_device_information_get_pan_min(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_float(msg, 24);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field pan_rate_max from gimbal_device_information message
|
||
|
|
*
|
||
|
|
* @return [rad/s] Minimum pan/yaw angular rate (positive: to the right, negative: to the left)
|
||
|
|
*/
|
||
|
|
static inline float mavlink_msg_gimbal_device_information_get_pan_rate_max(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_float(msg, 28);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Decode a gimbal_device_information message into a struct
|
||
|
|
*
|
||
|
|
* @param msg The message to decode
|
||
|
|
* @param gimbal_device_information C-struct to decode the message contents into
|
||
|
|
*/
|
||
|
|
static inline void mavlink_msg_gimbal_device_information_decode(const mavlink_message_t* msg, mavlink_gimbal_device_information_t* gimbal_device_information)
|
||
|
|
{
|
||
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||
|
|
gimbal_device_information->time_boot_ms = mavlink_msg_gimbal_device_information_get_time_boot_ms(msg);
|
||
|
|
gimbal_device_information->firmware_version = mavlink_msg_gimbal_device_information_get_firmware_version(msg);
|
||
|
|
gimbal_device_information->tilt_max = mavlink_msg_gimbal_device_information_get_tilt_max(msg);
|
||
|
|
gimbal_device_information->tilt_min = mavlink_msg_gimbal_device_information_get_tilt_min(msg);
|
||
|
|
gimbal_device_information->tilt_rate_max = mavlink_msg_gimbal_device_information_get_tilt_rate_max(msg);
|
||
|
|
gimbal_device_information->pan_max = mavlink_msg_gimbal_device_information_get_pan_max(msg);
|
||
|
|
gimbal_device_information->pan_min = mavlink_msg_gimbal_device_information_get_pan_min(msg);
|
||
|
|
gimbal_device_information->pan_rate_max = mavlink_msg_gimbal_device_information_get_pan_rate_max(msg);
|
||
|
|
gimbal_device_information->cap_flags = mavlink_msg_gimbal_device_information_get_cap_flags(msg);
|
||
|
|
mavlink_msg_gimbal_device_information_get_vendor_name(msg, gimbal_device_information->vendor_name);
|
||
|
|
mavlink_msg_gimbal_device_information_get_model_name(msg, gimbal_device_information->model_name);
|
||
|
|
#else
|
||
|
|
uint8_t len = msg->len < MAVLINK_MSG_ID_GIMBAL_DEVICE_INFORMATION_LEN? msg->len : MAVLINK_MSG_ID_GIMBAL_DEVICE_INFORMATION_LEN;
|
||
|
|
memset(gimbal_device_information, 0, MAVLINK_MSG_ID_GIMBAL_DEVICE_INFORMATION_LEN);
|
||
|
|
memcpy(gimbal_device_information, _MAV_PAYLOAD(msg), len);
|
||
|
|
#endif
|
||
|
|
}
|