mavlink_msg_manual_setpoint.h
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1 // MESSAGE MANUAL_SETPOINT PACKING
2 
3 #define MAVLINK_MSG_ID_MANUAL_SETPOINT 81
4 
6 {
7  uint32_t time_boot_ms; /*< Timestamp in milliseconds since system boot*/
8  float roll; /*< Desired roll rate in radians per second*/
9  float pitch; /*< Desired pitch rate in radians per second*/
10  float yaw; /*< Desired yaw rate in radians per second*/
11  float thrust; /*< Collective thrust, normalized to 0 .. 1*/
12  uint8_t mode_switch; /*< Flight mode switch position, 0.. 255*/
13  uint8_t manual_override_switch; /*< Override mode switch position, 0.. 255*/
15 
16 #define MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN 22
17 #define MAVLINK_MSG_ID_81_LEN 22
18 
19 #define MAVLINK_MSG_ID_MANUAL_SETPOINT_CRC 106
20 #define MAVLINK_MSG_ID_81_CRC 106
21 
22 
23 
24 #define MAVLINK_MESSAGE_INFO_MANUAL_SETPOINT { \
25  "MANUAL_SETPOINT", \
26  7, \
27  { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_manual_setpoint_t, time_boot_ms) }, \
28  { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_manual_setpoint_t, roll) }, \
29  { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_manual_setpoint_t, pitch) }, \
30  { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_manual_setpoint_t, yaw) }, \
31  { "thrust", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_manual_setpoint_t, thrust) }, \
32  { "mode_switch", NULL, MAVLINK_TYPE_UINT8_T, 0, 20, offsetof(mavlink_manual_setpoint_t, mode_switch) }, \
33  { "manual_override_switch", NULL, MAVLINK_TYPE_UINT8_T, 0, 21, offsetof(mavlink_manual_setpoint_t, manual_override_switch) }, \
34  } \
35 }
36 
37 
53 static inline uint16_t mavlink_msg_manual_setpoint_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
54  uint32_t time_boot_ms, float roll, float pitch, float yaw, float thrust, uint8_t mode_switch, uint8_t manual_override_switch)
55 {
56 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
58  _mav_put_uint32_t(buf, 0, time_boot_ms);
59  _mav_put_float(buf, 4, roll);
60  _mav_put_float(buf, 8, pitch);
61  _mav_put_float(buf, 12, yaw);
62  _mav_put_float(buf, 16, thrust);
63  _mav_put_uint8_t(buf, 20, mode_switch);
64  _mav_put_uint8_t(buf, 21, manual_override_switch);
65 
67 #else
69  packet.time_boot_ms = time_boot_ms;
70  packet.roll = roll;
71  packet.pitch = pitch;
72  packet.yaw = yaw;
73  packet.thrust = thrust;
74  packet.mode_switch = mode_switch;
76 
78 #endif
79 
80  msg->msgid = MAVLINK_MSG_ID_MANUAL_SETPOINT;
81 #if MAVLINK_CRC_EXTRA
83 #else
84  return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN);
85 #endif
86 }
87 
103 static inline uint16_t mavlink_msg_manual_setpoint_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
104  mavlink_message_t* msg,
105  uint32_t time_boot_ms,float roll,float pitch,float yaw,float thrust,uint8_t mode_switch,uint8_t manual_override_switch)
106 {
107 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
109  _mav_put_uint32_t(buf, 0, time_boot_ms);
110  _mav_put_float(buf, 4, roll);
111  _mav_put_float(buf, 8, pitch);
112  _mav_put_float(buf, 12, yaw);
113  _mav_put_float(buf, 16, thrust);
114  _mav_put_uint8_t(buf, 20, mode_switch);
115  _mav_put_uint8_t(buf, 21, manual_override_switch);
116 
118 #else
120  packet.time_boot_ms = time_boot_ms;
121  packet.roll = roll;
122  packet.pitch = pitch;
123  packet.yaw = yaw;
124  packet.thrust = thrust;
125  packet.mode_switch = mode_switch;
127 
129 #endif
130 
131  msg->msgid = MAVLINK_MSG_ID_MANUAL_SETPOINT;
132 #if MAVLINK_CRC_EXTRA
134 #else
135  return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN);
136 #endif
137 }
138 
147 static inline uint16_t mavlink_msg_manual_setpoint_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_manual_setpoint_t* manual_setpoint)
148 {
149  return mavlink_msg_manual_setpoint_pack(system_id, component_id, msg, manual_setpoint->time_boot_ms, manual_setpoint->roll, manual_setpoint->pitch, manual_setpoint->yaw, manual_setpoint->thrust, manual_setpoint->mode_switch, manual_setpoint->manual_override_switch);
150 }
151 
161 static inline uint16_t mavlink_msg_manual_setpoint_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_manual_setpoint_t* manual_setpoint)
162 {
163  return mavlink_msg_manual_setpoint_pack_chan(system_id, component_id, chan, msg, manual_setpoint->time_boot_ms, manual_setpoint->roll, manual_setpoint->pitch, manual_setpoint->yaw, manual_setpoint->thrust, manual_setpoint->mode_switch, manual_setpoint->manual_override_switch);
164 }
165 
178 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
179 
180 static inline void mavlink_msg_manual_setpoint_send(mavlink_channel_t chan, uint32_t time_boot_ms, float roll, float pitch, float yaw, float thrust, uint8_t mode_switch, uint8_t manual_override_switch)
181 {
182 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
185  _mav_put_float(buf, 4, roll);
186  _mav_put_float(buf, 8, pitch);
187  _mav_put_float(buf, 12, yaw);
188  _mav_put_float(buf, 16, thrust);
189  _mav_put_uint8_t(buf, 20, mode_switch);
190  _mav_put_uint8_t(buf, 21, manual_override_switch);
191 
192 #if MAVLINK_CRC_EXTRA
194 #else
195  _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_SETPOINT, buf, MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN);
196 #endif
197 #else
199  packet.time_boot_ms = time_boot_ms;
200  packet.roll = roll;
201  packet.pitch = pitch;
202  packet.yaw = yaw;
203  packet.thrust = thrust;
204  packet.mode_switch = mode_switch;
206 
207 #if MAVLINK_CRC_EXTRA
208  _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_SETPOINT, (const char *)&packet, MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN, MAVLINK_MSG_ID_MANUAL_SETPOINT_CRC);
209 #else
210  _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_SETPOINT, (const char *)&packet, MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN);
211 #endif
212 #endif
213 }
214 
215 #if MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN <= MAVLINK_MAX_PAYLOAD_LEN
216 /*
217  This varient of _send() can be used to save stack space by re-using
218  memory from the receive buffer. The caller provides a
219  mavlink_message_t which is the size of a full mavlink message. This
220  is usually the receive buffer for the channel, and allows a reply to an
221  incoming message with minimum stack space usage.
222  */
223 static inline void mavlink_msg_manual_setpoint_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, float roll, float pitch, float yaw, float thrust, uint8_t mode_switch, uint8_t manual_override_switch)
224 {
225 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
226  char *buf = (char *)msgbuf;
228  _mav_put_float(buf, 4, roll);
229  _mav_put_float(buf, 8, pitch);
230  _mav_put_float(buf, 12, yaw);
231  _mav_put_float(buf, 16, thrust);
232  _mav_put_uint8_t(buf, 20, mode_switch);
233  _mav_put_uint8_t(buf, 21, manual_override_switch);
234 
235 #if MAVLINK_CRC_EXTRA
237 #else
238  _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_SETPOINT, buf, MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN);
239 #endif
240 #else
242  packet->time_boot_ms = time_boot_ms;
243  packet->roll = roll;
244  packet->pitch = pitch;
245  packet->yaw = yaw;
246  packet->thrust = thrust;
247  packet->mode_switch = mode_switch;
249 
250 #if MAVLINK_CRC_EXTRA
251  _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_SETPOINT, (const char *)packet, MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN, MAVLINK_MSG_ID_MANUAL_SETPOINT_CRC);
252 #else
253  _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_SETPOINT, (const char *)packet, MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN);
254 #endif
255 #endif
256 }
257 #endif
258 
259 #endif
260 
261 // MESSAGE MANUAL_SETPOINT UNPACKING
262 
263 
269 static inline uint32_t mavlink_msg_manual_setpoint_get_time_boot_ms(const mavlink_message_t* msg)
270 {
271  return _MAV_RETURN_uint32_t(msg, 0);
272 }
273 
279 static inline float mavlink_msg_manual_setpoint_get_roll(const mavlink_message_t* msg)
280 {
281  return _MAV_RETURN_float(msg, 4);
282 }
283 
289 static inline float mavlink_msg_manual_setpoint_get_pitch(const mavlink_message_t* msg)
290 {
291  return _MAV_RETURN_float(msg, 8);
292 }
293 
299 static inline float mavlink_msg_manual_setpoint_get_yaw(const mavlink_message_t* msg)
300 {
301  return _MAV_RETURN_float(msg, 12);
302 }
303 
309 static inline float mavlink_msg_manual_setpoint_get_thrust(const mavlink_message_t* msg)
310 {
311  return _MAV_RETURN_float(msg, 16);
312 }
313 
319 static inline uint8_t mavlink_msg_manual_setpoint_get_mode_switch(const mavlink_message_t* msg)
320 {
321  return _MAV_RETURN_uint8_t(msg, 20);
322 }
323 
329 static inline uint8_t mavlink_msg_manual_setpoint_get_manual_override_switch(const mavlink_message_t* msg)
330 {
331  return _MAV_RETURN_uint8_t(msg, 21);
332 }
333 
340 static inline void mavlink_msg_manual_setpoint_decode(const mavlink_message_t* msg, mavlink_manual_setpoint_t* manual_setpoint)
341 {
342 #if MAVLINK_NEED_BYTE_SWAP
344  manual_setpoint->roll = mavlink_msg_manual_setpoint_get_roll(msg);
345  manual_setpoint->pitch = mavlink_msg_manual_setpoint_get_pitch(msg);
346  manual_setpoint->yaw = mavlink_msg_manual_setpoint_get_yaw(msg);
347  manual_setpoint->thrust = mavlink_msg_manual_setpoint_get_thrust(msg);
350 #else
351  memcpy(manual_setpoint, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN);
352 #endif
353 }
#define _mav_put_float(buf, wire_offset, b)
Definition: protocol.h:151
#define _MAV_RETURN_uint8_t(msg, wire_offset)
Definition: protocol.h:244
#define _mav_put_uint8_t(buf, wire_offset, b)
Definition: protocol.h:140
#define _mav_put_uint32_t(buf, wire_offset, b)
Definition: protocol.h:147


rosflight_firmware
Author(s): Daniel Koch , James Jackson
autogenerated on Thu Oct 24 2019 03:17:18