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

init

Browse Source
This commit is contained in:
Matthew
2020-09-30 11:44:05 +08:00
commit 282e5684b1
423 changed files with 157593 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
SIL/otherFiles/mavlink_msg_gimbal_control.h
+313
View File
@@ -0,0 +1,313 @@
#pragma once
// MESSAGE GIMBAL_CONTROL PACKING
#define MAVLINK_MSG_ID_GIMBAL_CONTROL 201
typedef struct __mavlink_gimbal_control_t {
float demanded_rate_x; /*< [rad/s] Demanded angular rate X.*/
float demanded_rate_y; /*< [rad/s] Demanded angular rate Y.*/
float demanded_rate_z; /*< [rad/s] Demanded angular rate Z.*/
uint16_t target_system; /*< System ID.*/
uint8_t target_component; /*< Component ID.*/
} mavlink_gimbal_control_t;
#define MAVLINK_MSG_ID_GIMBAL_CONTROL_LEN 15
#define MAVLINK_MSG_ID_GIMBAL_CONTROL_MIN_LEN 15
#define MAVLINK_MSG_ID_201_LEN 15
#define MAVLINK_MSG_ID_201_MIN_LEN 15
#define MAVLINK_MSG_ID_GIMBAL_CONTROL_CRC 8
#define MAVLINK_MSG_ID_201_CRC 8
#if MAVLINK_COMMAND_24BIT
#define MAVLINK_MESSAGE_INFO_GIMBAL_CONTROL { \
201, \
"GIMBAL_CONTROL", \
5, \
{ { "target_system", NULL, MAVLINK_TYPE_UINT16_T, 0, 12, offsetof(mavlink_gimbal_control_t, target_system) }, \
{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 14, offsetof(mavlink_gimbal_control_t, target_component) }, \
{ "demanded_rate_x", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_gimbal_control_t, demanded_rate_x) }, \
{ "demanded_rate_y", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_gimbal_control_t, demanded_rate_y) }, \
{ "demanded_rate_z", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_gimbal_control_t, demanded_rate_z) }, \
} \
}
#else
#define MAVLINK_MESSAGE_INFO_GIMBAL_CONTROL { \
"GIMBAL_CONTROL", \
5, \
{ { "target_system", NULL, MAVLINK_TYPE_UINT16_T, 0, 12, offsetof(mavlink_gimbal_control_t, target_system) }, \
{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 14, offsetof(mavlink_gimbal_control_t, target_component) }, \
{ "demanded_rate_x", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_gimbal_control_t, demanded_rate_x) }, \
{ "demanded_rate_y", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_gimbal_control_t, demanded_rate_y) }, \
{ "demanded_rate_z", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_gimbal_control_t, demanded_rate_z) }, \
} \
}
#endif
/**
* @brief Pack a gimbal_control message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
*
* @param target_system System ID.
* @param target_component Component ID.
* @param demanded_rate_x [rad/s] Demanded angular rate X.
* @param demanded_rate_y [rad/s] Demanded angular rate Y.
* @param demanded_rate_z [rad/s] Demanded angular rate Z.
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_gimbal_control_pack(uint16_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint16_t target_system, uint8_t target_component, float demanded_rate_x, float demanded_rate_y, float demanded_rate_z)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_GIMBAL_CONTROL_LEN];
_mav_put_float(buf, 0, demanded_rate_x);
_mav_put_float(buf, 4, demanded_rate_y);
_mav_put_float(buf, 8, demanded_rate_z);
_mav_put_uint16_t(buf, 12, target_system);
_mav_put_uint8_t(buf, 14, target_component);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GIMBAL_CONTROL_LEN);
#else
mavlink_gimbal_control_t packet;
packet.demanded_rate_x = demanded_rate_x;
packet.demanded_rate_y = demanded_rate_y;
packet.demanded_rate_z = demanded_rate_z;
packet.target_system = target_system;
packet.target_component = target_component;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GIMBAL_CONTROL_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_GIMBAL_CONTROL;
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GIMBAL_CONTROL_MIN_LEN, MAVLINK_MSG_ID_GIMBAL_CONTROL_LEN, MAVLINK_MSG_ID_GIMBAL_CONTROL_CRC);
}
/**
* @brief Pack a gimbal_control message on a channel
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message will be sent over
* @param msg The MAVLink message to compress the data into
* @param target_system System ID.
* @param target_component Component ID.
* @param demanded_rate_x [rad/s] Demanded angular rate X.
* @param demanded_rate_y [rad/s] Demanded angular rate Y.
* @param demanded_rate_z [rad/s] Demanded angular rate Z.
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_gimbal_control_pack_chan(uint16_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint16_t target_system,uint8_t target_component,float demanded_rate_x,float demanded_rate_y,float demanded_rate_z)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_GIMBAL_CONTROL_LEN];
_mav_put_float(buf, 0, demanded_rate_x);
_mav_put_float(buf, 4, demanded_rate_y);
_mav_put_float(buf, 8, demanded_rate_z);
_mav_put_uint16_t(buf, 12, target_system);
_mav_put_uint8_t(buf, 14, target_component);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GIMBAL_CONTROL_LEN);
#else
mavlink_gimbal_control_t packet;
packet.demanded_rate_x = demanded_rate_x;
packet.demanded_rate_y = demanded_rate_y;
packet.demanded_rate_z = demanded_rate_z;
packet.target_system = target_system;
packet.target_component = target_component;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GIMBAL_CONTROL_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_GIMBAL_CONTROL;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GIMBAL_CONTROL_MIN_LEN, MAVLINK_MSG_ID_GIMBAL_CONTROL_LEN, MAVLINK_MSG_ID_GIMBAL_CONTROL_CRC);
}
/**
* @brief Encode a gimbal_control struct
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
* @param gimbal_control C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_gimbal_control_encode(uint16_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gimbal_control_t* gimbal_control)
{
return mavlink_msg_gimbal_control_pack(system_id, component_id, msg, gimbal_control->target_system, gimbal_control->target_component, gimbal_control->demanded_rate_x, gimbal_control->demanded_rate_y, gimbal_control->demanded_rate_z);
}
/**
* @brief Encode a gimbal_control struct on a channel
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message will be sent over
* @param msg The MAVLink message to compress the data into
* @param gimbal_control C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_gimbal_control_encode_chan(uint16_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_gimbal_control_t* gimbal_control)
{
return mavlink_msg_gimbal_control_pack_chan(system_id, component_id, chan, msg, gimbal_control->target_system, gimbal_control->target_component, gimbal_control->demanded_rate_x, gimbal_control->demanded_rate_y, gimbal_control->demanded_rate_z);
}
/**
* @brief Send a gimbal_control message
* @param chan MAVLink channel to send the message
*
* @param target_system System ID.
* @param target_component Component ID.
* @param demanded_rate_x [rad/s] Demanded angular rate X.
* @param demanded_rate_y [rad/s] Demanded angular rate Y.
* @param demanded_rate_z [rad/s] Demanded angular rate Z.
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_gimbal_control_send(mavlink_channel_t chan, uint16_t target_system, uint8_t target_component, float demanded_rate_x, float demanded_rate_y, float demanded_rate_z)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_GIMBAL_CONTROL_LEN];
_mav_put_float(buf, 0, demanded_rate_x);
_mav_put_float(buf, 4, demanded_rate_y);
_mav_put_float(buf, 8, demanded_rate_z);
_mav_put_uint16_t(buf, 12, target_system);
_mav_put_uint8_t(buf, 14, target_component);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GIMBAL_CONTROL, buf, MAVLINK_MSG_ID_GIMBAL_CONTROL_MIN_LEN, MAVLINK_MSG_ID_GIMBAL_CONTROL_LEN, MAVLINK_MSG_ID_GIMBAL_CONTROL_CRC);
#else
mavlink_gimbal_control_t packet;
packet.demanded_rate_x = demanded_rate_x;
packet.demanded_rate_y = demanded_rate_y;
packet.demanded_rate_z = demanded_rate_z;
packet.target_system = target_system;
packet.target_component = target_component;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GIMBAL_CONTROL, (const char *)&packet, MAVLINK_MSG_ID_GIMBAL_CONTROL_MIN_LEN, MAVLINK_MSG_ID_GIMBAL_CONTROL_LEN, MAVLINK_MSG_ID_GIMBAL_CONTROL_CRC);
#endif
}
/**
* @brief Send a gimbal_control message
* @param chan MAVLink channel to send the message
* @param struct The MAVLink struct to serialize
*/
static inline void mavlink_msg_gimbal_control_send_struct(mavlink_channel_t chan, const mavlink_gimbal_control_t* gimbal_control)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
mavlink_msg_gimbal_control_send(chan, gimbal_control->target_system, gimbal_control->target_component, gimbal_control->demanded_rate_x, gimbal_control->demanded_rate_y, gimbal_control->demanded_rate_z);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GIMBAL_CONTROL, (const char *)gimbal_control, MAVLINK_MSG_ID_GIMBAL_CONTROL_MIN_LEN, MAVLINK_MSG_ID_GIMBAL_CONTROL_LEN, MAVLINK_MSG_ID_GIMBAL_CONTROL_CRC);
#endif
}
#if MAVLINK_MSG_ID_GIMBAL_CONTROL_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_control_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint16_t target_system, uint8_t target_component, float demanded_rate_x, float demanded_rate_y, float demanded_rate_z)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
_mav_put_float(buf, 0, demanded_rate_x);
_mav_put_float(buf, 4, demanded_rate_y);
_mav_put_float(buf, 8, demanded_rate_z);
_mav_put_uint16_t(buf, 12, target_system);
_mav_put_uint8_t(buf, 14, target_component);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GIMBAL_CONTROL, buf, MAVLINK_MSG_ID_GIMBAL_CONTROL_MIN_LEN, MAVLINK_MSG_ID_GIMBAL_CONTROL_LEN, MAVLINK_MSG_ID_GIMBAL_CONTROL_CRC);
#else
mavlink_gimbal_control_t *packet = (mavlink_gimbal_control_t *)msgbuf;
packet->demanded_rate_x = demanded_rate_x;
packet->demanded_rate_y = demanded_rate_y;
packet->demanded_rate_z = demanded_rate_z;
packet->target_system = target_system;
packet->target_component = target_component;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GIMBAL_CONTROL, (const char *)packet, MAVLINK_MSG_ID_GIMBAL_CONTROL_MIN_LEN, MAVLINK_MSG_ID_GIMBAL_CONTROL_LEN, MAVLINK_MSG_ID_GIMBAL_CONTROL_CRC);
#endif
}
#endif
#endif
// MESSAGE GIMBAL_CONTROL UNPACKING
/**
* @brief Get field target_system from gimbal_control message
*
* @return System ID.
*/
static inline uint16_t mavlink_msg_gimbal_control_get_target_system(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 12);
}
/**
* @brief Get field target_component from gimbal_control message
*
* @return Component ID.
*/
static inline uint8_t mavlink_msg_gimbal_control_get_target_component(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 14);
}
/**
* @brief Get field demanded_rate_x from gimbal_control message
*
* @return [rad/s] Demanded angular rate X.
*/
static inline float mavlink_msg_gimbal_control_get_demanded_rate_x(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 0);
}
/**
* @brief Get field demanded_rate_y from gimbal_control message
*
* @return [rad/s] Demanded angular rate Y.
*/
static inline float mavlink_msg_gimbal_control_get_demanded_rate_y(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 4);
}
/**
* @brief Get field demanded_rate_z from gimbal_control message
*
* @return [rad/s] Demanded angular rate Z.
*/
static inline float mavlink_msg_gimbal_control_get_demanded_rate_z(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 8);
}
/**
* @brief Decode a gimbal_control message into a struct
*
* @param msg The message to decode
* @param gimbal_control C-struct to decode the message contents into
*/
static inline void mavlink_msg_gimbal_control_decode(const mavlink_message_t* msg, mavlink_gimbal_control_t* gimbal_control)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
gimbal_control->demanded_rate_x = mavlink_msg_gimbal_control_get_demanded_rate_x(msg);
gimbal_control->demanded_rate_y = mavlink_msg_gimbal_control_get_demanded_rate_y(msg);
gimbal_control->demanded_rate_z = mavlink_msg_gimbal_control_get_demanded_rate_z(msg);
gimbal_control->target_system = mavlink_msg_gimbal_control_get_target_system(msg);
gimbal_control->target_component = mavlink_msg_gimbal_control_get_target_component(msg);
#else
uint8_t len = msg->len < MAVLINK_MSG_ID_GIMBAL_CONTROL_LEN? msg->len : MAVLINK_MSG_ID_GIMBAL_CONTROL_LEN;
memset(gimbal_control, 0, MAVLINK_MSG_ID_GIMBAL_CONTROL_LEN);
memcpy(gimbal_control, _MAV_PAYLOAD(msg), len);
#endif
}