Matthew
306 lines
18 KiB
C
306 lines
18 KiB
C
#pragma once
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// MESSAGE SET_ACTUATOR_CONTROL_TARGET PACKING
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#define MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET 139
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typedef struct __mavlink_set_actuator_control_target_t {
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uint32_t time_usec; /*< [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.*/
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float controls[8]; /*< Actuator controls. Normed to -1..+1 where 0 is neutral position. Throttle for single rotation direction motors is 0..1, negative range for reverse direction. Standard mapping for attitude controls (group 0): (index 0-7): roll, pitch, yaw, throttle, flaps, spoilers, airbrakes, landing gear. Load a pass-through mixer to repurpose them as generic outputs.*/
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uint16_t target_system; /*< System ID*/
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uint8_t group_mlx; /*< Actuator group. The "_mlx" indicates this is a multi-instance message and a MAVLink parser should use this field to difference between instances.*/
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uint8_t target_component; /*< Component ID*/
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} mavlink_set_actuator_control_target_t;
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#define MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN 40
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#define MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_MIN_LEN 40
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#define MAVLINK_MSG_ID_139_LEN 40
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#define MAVLINK_MSG_ID_139_MIN_LEN 40
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#define MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_CRC 176
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#define MAVLINK_MSG_ID_139_CRC 176
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#define MAVLINK_MSG_SET_ACTUATOR_CONTROL_TARGET_FIELD_CONTROLS_LEN 8
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_SET_ACTUATOR_CONTROL_TARGET { \
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139, \
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"SET_ACTUATOR_CONTROL_TARGET", \
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5, \
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{ { "time_usec", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_set_actuator_control_target_t, time_usec) }, \
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{ "group_mlx", NULL, MAVLINK_TYPE_UINT8_T, 0, 38, offsetof(mavlink_set_actuator_control_target_t, group_mlx) }, \
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{ "target_system", NULL, MAVLINK_TYPE_UINT16_T, 0, 36, offsetof(mavlink_set_actuator_control_target_t, target_system) }, \
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{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 39, offsetof(mavlink_set_actuator_control_target_t, target_component) }, \
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{ "controls", NULL, MAVLINK_TYPE_FLOAT, 8, 4, offsetof(mavlink_set_actuator_control_target_t, controls) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_SET_ACTUATOR_CONTROL_TARGET { \
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"SET_ACTUATOR_CONTROL_TARGET", \
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5, \
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{ { "time_usec", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_set_actuator_control_target_t, time_usec) }, \
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{ "group_mlx", NULL, MAVLINK_TYPE_UINT8_T, 0, 38, offsetof(mavlink_set_actuator_control_target_t, group_mlx) }, \
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{ "target_system", NULL, MAVLINK_TYPE_UINT16_T, 0, 36, offsetof(mavlink_set_actuator_control_target_t, target_system) }, \
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{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 39, offsetof(mavlink_set_actuator_control_target_t, target_component) }, \
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{ "controls", NULL, MAVLINK_TYPE_FLOAT, 8, 4, offsetof(mavlink_set_actuator_control_target_t, controls) }, \
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} \
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}
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#endif
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/**
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* @brief Pack a set_actuator_control_target 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_usec [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
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* @param group_mlx Actuator group. The "_mlx" indicates this is a multi-instance message and a MAVLink parser should use this field to difference between instances.
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* @param target_system System ID
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* @param target_component Component ID
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* @param controls Actuator controls. Normed to -1..+1 where 0 is neutral position. Throttle for single rotation direction motors is 0..1, negative range for reverse direction. Standard mapping for attitude controls (group 0): (index 0-7): roll, pitch, yaw, throttle, flaps, spoilers, airbrakes, landing gear. Load a pass-through mixer to repurpose them as generic outputs.
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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_set_actuator_control_target_pack(uint16_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint32_t time_usec, uint8_t group_mlx, uint16_t target_system, uint8_t target_component, const float *controls)
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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_SET_ACTUATOR_CONTROL_TARGET_LEN];
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_mav_put_uint32_t(buf, 0, time_usec);
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_mav_put_uint16_t(buf, 36, target_system);
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_mav_put_uint8_t(buf, 38, group_mlx);
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_mav_put_uint8_t(buf, 39, target_component);
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_mav_put_float_array(buf, 4, controls, 8);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN);
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#else
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mavlink_set_actuator_control_target_t packet;
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packet.time_usec = time_usec;
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packet.target_system = target_system;
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packet.group_mlx = group_mlx;
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packet.target_component = target_component;
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mav_array_memcpy(packet.controls, controls, sizeof(float)*8);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_MIN_LEN, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_CRC);
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}
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/**
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* @brief Pack a set_actuator_control_target 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_usec [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
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* @param group_mlx Actuator group. The "_mlx" indicates this is a multi-instance message and a MAVLink parser should use this field to difference between instances.
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* @param target_system System ID
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* @param target_component Component ID
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* @param controls Actuator controls. Normed to -1..+1 where 0 is neutral position. Throttle for single rotation direction motors is 0..1, negative range for reverse direction. Standard mapping for attitude controls (group 0): (index 0-7): roll, pitch, yaw, throttle, flaps, spoilers, airbrakes, landing gear. Load a pass-through mixer to repurpose them as generic outputs.
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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_set_actuator_control_target_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_usec,uint8_t group_mlx,uint16_t target_system,uint8_t target_component,const float *controls)
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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_SET_ACTUATOR_CONTROL_TARGET_LEN];
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_mav_put_uint32_t(buf, 0, time_usec);
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_mav_put_uint16_t(buf, 36, target_system);
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_mav_put_uint8_t(buf, 38, group_mlx);
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_mav_put_uint8_t(buf, 39, target_component);
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_mav_put_float_array(buf, 4, controls, 8);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN);
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#else
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mavlink_set_actuator_control_target_t packet;
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packet.time_usec = time_usec;
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packet.target_system = target_system;
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packet.group_mlx = group_mlx;
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packet.target_component = target_component;
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mav_array_memcpy(packet.controls, controls, sizeof(float)*8);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_MIN_LEN, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_CRC);
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}
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/**
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* @brief Encode a set_actuator_control_target 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 set_actuator_control_target C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_set_actuator_control_target_encode(uint16_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_actuator_control_target_t* set_actuator_control_target)
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{
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return mavlink_msg_set_actuator_control_target_pack(system_id, component_id, msg, set_actuator_control_target->time_usec, set_actuator_control_target->group_mlx, set_actuator_control_target->target_system, set_actuator_control_target->target_component, set_actuator_control_target->controls);
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}
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/**
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* @brief Encode a set_actuator_control_target 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 set_actuator_control_target C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_set_actuator_control_target_encode_chan(uint16_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_set_actuator_control_target_t* set_actuator_control_target)
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{
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return mavlink_msg_set_actuator_control_target_pack_chan(system_id, component_id, chan, msg, set_actuator_control_target->time_usec, set_actuator_control_target->group_mlx, set_actuator_control_target->target_system, set_actuator_control_target->target_component, set_actuator_control_target->controls);
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}
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/**
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* @brief Send a set_actuator_control_target message
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* @param chan MAVLink channel to send the message
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*
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* @param time_usec [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
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* @param group_mlx Actuator group. The "_mlx" indicates this is a multi-instance message and a MAVLink parser should use this field to difference between instances.
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* @param target_system System ID
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* @param target_component Component ID
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* @param controls Actuator controls. Normed to -1..+1 where 0 is neutral position. Throttle for single rotation direction motors is 0..1, negative range for reverse direction. Standard mapping for attitude controls (group 0): (index 0-7): roll, pitch, yaw, throttle, flaps, spoilers, airbrakes, landing gear. Load a pass-through mixer to repurpose them as generic outputs.
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_set_actuator_control_target_send(mavlink_channel_t chan, uint32_t time_usec, uint8_t group_mlx, uint16_t target_system, uint8_t target_component, const float *controls)
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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_SET_ACTUATOR_CONTROL_TARGET_LEN];
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_mav_put_uint32_t(buf, 0, time_usec);
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_mav_put_uint16_t(buf, 36, target_system);
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_mav_put_uint8_t(buf, 38, group_mlx);
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_mav_put_uint8_t(buf, 39, target_component);
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_mav_put_float_array(buf, 4, controls, 8);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET, buf, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_MIN_LEN, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_CRC);
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#else
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mavlink_set_actuator_control_target_t packet;
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packet.time_usec = time_usec;
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packet.target_system = target_system;
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packet.group_mlx = group_mlx;
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packet.target_component = target_component;
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mav_array_memcpy(packet.controls, controls, sizeof(float)*8);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET, (const char *)&packet, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_MIN_LEN, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_CRC);
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#endif
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}
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/**
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* @brief Send a set_actuator_control_target message
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* @param chan MAVLink channel to send the message
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* @param struct The MAVLink struct to serialize
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*/
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static inline void mavlink_msg_set_actuator_control_target_send_struct(mavlink_channel_t chan, const mavlink_set_actuator_control_target_t* set_actuator_control_target)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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mavlink_msg_set_actuator_control_target_send(chan, set_actuator_control_target->time_usec, set_actuator_control_target->group_mlx, set_actuator_control_target->target_system, set_actuator_control_target->target_component, set_actuator_control_target->controls);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET, (const char *)set_actuator_control_target, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_MIN_LEN, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_CRC);
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#endif
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}
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#if MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_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_set_actuator_control_target_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_usec, uint8_t group_mlx, uint16_t target_system, uint8_t target_component, const float *controls)
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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_uint32_t(buf, 0, time_usec);
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_mav_put_uint16_t(buf, 36, target_system);
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_mav_put_uint8_t(buf, 38, group_mlx);
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_mav_put_uint8_t(buf, 39, target_component);
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_mav_put_float_array(buf, 4, controls, 8);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET, buf, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_MIN_LEN, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_CRC);
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#else
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mavlink_set_actuator_control_target_t *packet = (mavlink_set_actuator_control_target_t *)msgbuf;
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packet->time_usec = time_usec;
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packet->target_system = target_system;
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packet->group_mlx = group_mlx;
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packet->target_component = target_component;
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mav_array_memcpy(packet->controls, controls, sizeof(float)*8);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET, (const char *)packet, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_MIN_LEN, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_CRC);
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#endif
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}
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#endif
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#endif
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// MESSAGE SET_ACTUATOR_CONTROL_TARGET UNPACKING
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/**
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* @brief Get field time_usec from set_actuator_control_target message
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*
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* @return [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
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*/
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static inline uint32_t mavlink_msg_set_actuator_control_target_get_time_usec(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint32_t(msg, 0);
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}
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/**
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* @brief Get field group_mlx from set_actuator_control_target message
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*
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* @return Actuator group. The "_mlx" indicates this is a multi-instance message and a MAVLink parser should use this field to difference between instances.
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*/
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static inline uint8_t mavlink_msg_set_actuator_control_target_get_group_mlx(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 38);
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}
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/**
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* @brief Get field target_system from set_actuator_control_target message
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*
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* @return System ID
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*/
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static inline uint16_t mavlink_msg_set_actuator_control_target_get_target_system(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint16_t(msg, 36);
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}
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/**
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* @brief Get field target_component from set_actuator_control_target message
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*
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* @return Component ID
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*/
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static inline uint8_t mavlink_msg_set_actuator_control_target_get_target_component(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 39);
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}
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/**
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* @brief Get field controls from set_actuator_control_target message
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*
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* @return Actuator controls. Normed to -1..+1 where 0 is neutral position. Throttle for single rotation direction motors is 0..1, negative range for reverse direction. Standard mapping for attitude controls (group 0): (index 0-7): roll, pitch, yaw, throttle, flaps, spoilers, airbrakes, landing gear. Load a pass-through mixer to repurpose them as generic outputs.
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*/
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static inline uint16_t mavlink_msg_set_actuator_control_target_get_controls(const mavlink_message_t* msg, float *controls)
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{
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return _MAV_RETURN_float_array(msg, controls, 8, 4);
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}
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/**
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* @brief Decode a set_actuator_control_target message into a struct
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*
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* @param msg The message to decode
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* @param set_actuator_control_target C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_set_actuator_control_target_decode(const mavlink_message_t* msg, mavlink_set_actuator_control_target_t* set_actuator_control_target)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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set_actuator_control_target->time_usec = mavlink_msg_set_actuator_control_target_get_time_usec(msg);
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mavlink_msg_set_actuator_control_target_get_controls(msg, set_actuator_control_target->controls);
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set_actuator_control_target->target_system = mavlink_msg_set_actuator_control_target_get_target_system(msg);
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set_actuator_control_target->group_mlx = mavlink_msg_set_actuator_control_target_get_group_mlx(msg);
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set_actuator_control_target->target_component = mavlink_msg_set_actuator_control_target_get_target_component(msg);
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#else
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uint8_t len = msg->len < MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN? msg->len : MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN;
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memset(set_actuator_control_target, 0, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN);
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memcpy(set_actuator_control_target, _MAV_PAYLOAD(msg), len);
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#endif
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}
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