mavlink_msg_set_attitude_target.h
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1 // MESSAGE SET_ATTITUDE_TARGET PACKING
2 
3 #define MAVLINK_MSG_ID_SET_ATTITUDE_TARGET 82
4 
6 {
7  uint32_t time_boot_ms; /*< Timestamp in milliseconds since system boot*/
8  float q[4]; /*< Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)*/
9  float body_roll_rate; /*< Body roll rate in radians per second*/
10  float body_pitch_rate; /*< Body roll rate in radians per second*/
11  float body_yaw_rate; /*< Body roll rate in radians per second*/
12  float thrust; /*< Collective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust)*/
13  uint8_t target_system; /*< System ID*/
14  uint8_t target_component; /*< Component ID*/
15  uint8_t type_mask; /*< Mappings: If any of these bits are set, the corresponding input should be ignored: bit 1: body roll rate, bit 2: body pitch rate, bit 3: body yaw rate. bit 4-bit 6: reserved, bit 7: throttle, bit 8: attitude*/
17 
18 #define MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_LEN 39
19 #define MAVLINK_MSG_ID_82_LEN 39
20 
21 #define MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_CRC 49
22 #define MAVLINK_MSG_ID_82_CRC 49
23 
24 #define MAVLINK_MSG_SET_ATTITUDE_TARGET_FIELD_Q_LEN 4
25 
26 #define MAVLINK_MESSAGE_INFO_SET_ATTITUDE_TARGET { \
27  "SET_ATTITUDE_TARGET", \
28  9, \
29  { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_set_attitude_target_t, time_boot_ms) }, \
30  { "q", NULL, MAVLINK_TYPE_FLOAT, 4, 4, offsetof(mavlink_set_attitude_target_t, q) }, \
31  { "body_roll_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_set_attitude_target_t, body_roll_rate) }, \
32  { "body_pitch_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_set_attitude_target_t, body_pitch_rate) }, \
33  { "body_yaw_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_set_attitude_target_t, body_yaw_rate) }, \
34  { "thrust", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_set_attitude_target_t, thrust) }, \
35  { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 36, offsetof(mavlink_set_attitude_target_t, target_system) }, \
36  { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 37, offsetof(mavlink_set_attitude_target_t, target_component) }, \
37  { "type_mask", NULL, MAVLINK_TYPE_UINT8_T, 0, 38, offsetof(mavlink_set_attitude_target_t, type_mask) }, \
38  } \
39 }
40 
41 
59 static inline uint16_t mavlink_msg_set_attitude_target_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
60  uint32_t time_boot_ms, uint8_t target_system, uint8_t target_component, uint8_t type_mask, const float *q, float body_roll_rate, float body_pitch_rate, float body_yaw_rate, float thrust)
61 {
62 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
64  _mav_put_uint32_t(buf, 0, time_boot_ms);
65  _mav_put_float(buf, 20, body_roll_rate);
66  _mav_put_float(buf, 24, body_pitch_rate);
67  _mav_put_float(buf, 28, body_yaw_rate);
68  _mav_put_float(buf, 32, thrust);
69  _mav_put_uint8_t(buf, 36, target_system);
70  _mav_put_uint8_t(buf, 37, target_component);
71  _mav_put_uint8_t(buf, 38, type_mask);
72  _mav_put_float_array(buf, 4, q, 4);
74 #else
76  packet.time_boot_ms = time_boot_ms;
80  packet.thrust = thrust;
83  packet.type_mask = type_mask;
84  mav_array_memcpy(packet.q, q, sizeof(float)*4);
86 #endif
87 
89 #if MAVLINK_CRC_EXTRA
91 #else
92  return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_LEN);
93 #endif
94 }
95 
113 static inline uint16_t mavlink_msg_set_attitude_target_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
114  mavlink_message_t* msg,
115  uint32_t time_boot_ms,uint8_t target_system,uint8_t target_component,uint8_t type_mask,const float *q,float body_roll_rate,float body_pitch_rate,float body_yaw_rate,float thrust)
116 {
117 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
119  _mav_put_uint32_t(buf, 0, time_boot_ms);
120  _mav_put_float(buf, 20, body_roll_rate);
121  _mav_put_float(buf, 24, body_pitch_rate);
122  _mav_put_float(buf, 28, body_yaw_rate);
123  _mav_put_float(buf, 32, thrust);
124  _mav_put_uint8_t(buf, 36, target_system);
125  _mav_put_uint8_t(buf, 37, target_component);
126  _mav_put_uint8_t(buf, 38, type_mask);
127  _mav_put_float_array(buf, 4, q, 4);
129 #else
131  packet.time_boot_ms = time_boot_ms;
134  packet.body_yaw_rate = body_yaw_rate;
135  packet.thrust = thrust;
136  packet.target_system = target_system;
138  packet.type_mask = type_mask;
139  mav_array_memcpy(packet.q, q, sizeof(float)*4);
141 #endif
142 
144 #if MAVLINK_CRC_EXTRA
146 #else
147  return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_LEN);
148 #endif
149 }
150 
159 static inline uint16_t mavlink_msg_set_attitude_target_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_attitude_target_t* set_attitude_target)
160 {
161  return mavlink_msg_set_attitude_target_pack(system_id, component_id, msg, set_attitude_target->time_boot_ms, set_attitude_target->target_system, set_attitude_target->target_component, set_attitude_target->type_mask, set_attitude_target->q, set_attitude_target->body_roll_rate, set_attitude_target->body_pitch_rate, set_attitude_target->body_yaw_rate, set_attitude_target->thrust);
162 }
163 
173 static inline uint16_t mavlink_msg_set_attitude_target_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_set_attitude_target_t* set_attitude_target)
174 {
175  return mavlink_msg_set_attitude_target_pack_chan(system_id, component_id, chan, msg, set_attitude_target->time_boot_ms, set_attitude_target->target_system, set_attitude_target->target_component, set_attitude_target->type_mask, set_attitude_target->q, set_attitude_target->body_roll_rate, set_attitude_target->body_pitch_rate, set_attitude_target->body_yaw_rate, set_attitude_target->thrust);
176 }
177 
192 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
193 
194 static inline void mavlink_msg_set_attitude_target_send(mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t target_system, uint8_t target_component, uint8_t type_mask, const float *q, float body_roll_rate, float body_pitch_rate, float body_yaw_rate, float thrust)
195 {
196 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
199  _mav_put_float(buf, 20, body_roll_rate);
201  _mav_put_float(buf, 28, body_yaw_rate);
202  _mav_put_float(buf, 32, thrust);
205  _mav_put_uint8_t(buf, 38, type_mask);
206  _mav_put_float_array(buf, 4, q, 4);
207 #if MAVLINK_CRC_EXTRA
209 #else
210  _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET, buf, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_LEN);
211 #endif
212 #else
214  packet.time_boot_ms = time_boot_ms;
217  packet.body_yaw_rate = body_yaw_rate;
218  packet.thrust = thrust;
219  packet.target_system = target_system;
221  packet.type_mask = type_mask;
222  mav_array_memcpy(packet.q, q, sizeof(float)*4);
223 #if MAVLINK_CRC_EXTRA
224  _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET, (const char *)&packet, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_LEN, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_CRC);
225 #else
226  _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET, (const char *)&packet, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_LEN);
227 #endif
228 #endif
229 }
230 
231 #if MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_LEN <= MAVLINK_MAX_PAYLOAD_LEN
232 /*
233  This varient of _send() can be used to save stack space by re-using
234  memory from the receive buffer. The caller provides a
235  mavlink_message_t which is the size of a full mavlink message. This
236  is usually the receive buffer for the channel, and allows a reply to an
237  incoming message with minimum stack space usage.
238  */
239 static inline void mavlink_msg_set_attitude_target_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t target_system, uint8_t target_component, uint8_t type_mask, const float *q, float body_roll_rate, float body_pitch_rate, float body_yaw_rate, float thrust)
240 {
241 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
242  char *buf = (char *)msgbuf;
244  _mav_put_float(buf, 20, body_roll_rate);
246  _mav_put_float(buf, 28, body_yaw_rate);
247  _mav_put_float(buf, 32, thrust);
250  _mav_put_uint8_t(buf, 38, type_mask);
251  _mav_put_float_array(buf, 4, q, 4);
252 #if MAVLINK_CRC_EXTRA
254 #else
255  _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET, buf, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_LEN);
256 #endif
257 #else
259  packet->time_boot_ms = time_boot_ms;
260  packet->body_roll_rate = body_roll_rate;
262  packet->body_yaw_rate = body_yaw_rate;
263  packet->thrust = thrust;
264  packet->target_system = target_system;
266  packet->type_mask = type_mask;
267  mav_array_memcpy(packet->q, q, sizeof(float)*4);
268 #if MAVLINK_CRC_EXTRA
270 #else
271  _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET, (const char *)packet, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_LEN);
272 #endif
273 #endif
274 }
275 #endif
276 
277 #endif
278 
279 // MESSAGE SET_ATTITUDE_TARGET UNPACKING
280 
281 
287 static inline uint32_t mavlink_msg_set_attitude_target_get_time_boot_ms(const mavlink_message_t* msg)
288 {
289  return _MAV_RETURN_uint32_t(msg, 0);
290 }
291 
297 static inline uint8_t mavlink_msg_set_attitude_target_get_target_system(const mavlink_message_t* msg)
298 {
299  return _MAV_RETURN_uint8_t(msg, 36);
300 }
301 
307 static inline uint8_t mavlink_msg_set_attitude_target_get_target_component(const mavlink_message_t* msg)
308 {
309  return _MAV_RETURN_uint8_t(msg, 37);
310 }
311 
317 static inline uint8_t mavlink_msg_set_attitude_target_get_type_mask(const mavlink_message_t* msg)
318 {
319  return _MAV_RETURN_uint8_t(msg, 38);
320 }
321 
327 static inline uint16_t mavlink_msg_set_attitude_target_get_q(const mavlink_message_t* msg, float *q)
328 {
329  return _MAV_RETURN_float_array(msg, q, 4, 4);
330 }
331 
337 static inline float mavlink_msg_set_attitude_target_get_body_roll_rate(const mavlink_message_t* msg)
338 {
339  return _MAV_RETURN_float(msg, 20);
340 }
341 
347 static inline float mavlink_msg_set_attitude_target_get_body_pitch_rate(const mavlink_message_t* msg)
348 {
349  return _MAV_RETURN_float(msg, 24);
350 }
351 
357 static inline float mavlink_msg_set_attitude_target_get_body_yaw_rate(const mavlink_message_t* msg)
358 {
359  return _MAV_RETURN_float(msg, 28);
360 }
361 
367 static inline float mavlink_msg_set_attitude_target_get_thrust(const mavlink_message_t* msg)
368 {
369  return _MAV_RETURN_float(msg, 32);
370 }
371 
378 static inline void mavlink_msg_set_attitude_target_decode(const mavlink_message_t* msg, mavlink_set_attitude_target_t* set_attitude_target)
379 {
380 #if MAVLINK_NEED_BYTE_SWAP
382  mavlink_msg_set_attitude_target_get_q(msg, set_attitude_target->q);
386  set_attitude_target->thrust = mavlink_msg_set_attitude_target_get_thrust(msg);
389  set_attitude_target->type_mask = mavlink_msg_set_attitude_target_get_type_mask(msg);
390 #else
391  memcpy(set_attitude_target, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_LEN);
392 #endif
393 }
#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
static void mav_array_memcpy(void *dest, const void *src, size_t n)
Definition: protocol.h:176
#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 03:17:19