mavlink_msg_set_position_target_local_ned.h
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1 // MESSAGE SET_POSITION_TARGET_LOCAL_NED PACKING
2 
3 #define MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED 84
4 
6 {
7  uint32_t time_boot_ms; /*< Timestamp in milliseconds since system boot*/
8  float x; /*< X Position in NED frame in meters*/
9  float y; /*< Y Position in NED frame in meters*/
10  float z; /*< Z Position in NED frame in meters (note, altitude is negative in NED)*/
11  float vx; /*< X velocity in NED frame in meter / s*/
12  float vy; /*< Y velocity in NED frame in meter / s*/
13  float vz; /*< Z velocity in NED frame in meter / s*/
14  float afx; /*< X acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N*/
15  float afy; /*< Y acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N*/
16  float afz; /*< Z acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N*/
17  float yaw; /*< yaw setpoint in rad*/
18  float yaw_rate; /*< yaw rate setpoint in rad/s*/
19  uint16_t type_mask; /*< Bitmask to indicate which dimensions should be ignored by the vehicle: a value of 0b0000000000000000 or 0b0000001000000000 indicates that none of the setpoint dimensions should be ignored. If bit 10 is set the floats afx afy afz should be interpreted as force instead of acceleration. Mapping: bit 1: x, bit 2: y, bit 3: z, bit 4: vx, bit 5: vy, bit 6: vz, bit 7: ax, bit 8: ay, bit 9: az, bit 10: is force setpoint, bit 11: yaw, bit 12: yaw rate*/
20  uint8_t target_system; /*< System ID*/
21  uint8_t target_component; /*< Component ID*/
22  uint8_t coordinate_frame; /*< Valid options are: MAV_FRAME_LOCAL_NED = 1, MAV_FRAME_LOCAL_OFFSET_NED = 7, MAV_FRAME_BODY_NED = 8, MAV_FRAME_BODY_OFFSET_NED = 9*/
24 
25 #define MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED_LEN 53
26 #define MAVLINK_MSG_ID_84_LEN 53
27 
28 #define MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED_CRC 143
29 #define MAVLINK_MSG_ID_84_CRC 143
30 
31 
32 
33 #define MAVLINK_MESSAGE_INFO_SET_POSITION_TARGET_LOCAL_NED { \
34  "SET_POSITION_TARGET_LOCAL_NED", \
35  16, \
36  { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_set_position_target_local_ned_t, time_boot_ms) }, \
37  { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_set_position_target_local_ned_t, x) }, \
38  { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_set_position_target_local_ned_t, y) }, \
39  { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_set_position_target_local_ned_t, z) }, \
40  { "vx", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_set_position_target_local_ned_t, vx) }, \
41  { "vy", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_set_position_target_local_ned_t, vy) }, \
42  { "vz", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_set_position_target_local_ned_t, vz) }, \
43  { "afx", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_set_position_target_local_ned_t, afx) }, \
44  { "afy", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_set_position_target_local_ned_t, afy) }, \
45  { "afz", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_set_position_target_local_ned_t, afz) }, \
46  { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_set_position_target_local_ned_t, yaw) }, \
47  { "yaw_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_set_position_target_local_ned_t, yaw_rate) }, \
48  { "type_mask", NULL, MAVLINK_TYPE_UINT16_T, 0, 48, offsetof(mavlink_set_position_target_local_ned_t, type_mask) }, \
49  { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 50, offsetof(mavlink_set_position_target_local_ned_t, target_system) }, \
50  { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 51, offsetof(mavlink_set_position_target_local_ned_t, target_component) }, \
51  { "coordinate_frame", NULL, MAVLINK_TYPE_UINT8_T, 0, 52, offsetof(mavlink_set_position_target_local_ned_t, coordinate_frame) }, \
52  } \
53 }
54 
55 
80 static inline uint16_t mavlink_msg_set_position_target_local_ned_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
81  uint32_t time_boot_ms, uint8_t target_system, uint8_t target_component, uint8_t coordinate_frame, uint16_t type_mask, float x, float y, float z, float vx, float vy, float vz, float afx, float afy, float afz, float yaw, float yaw_rate)
82 {
83 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
85  _mav_put_uint32_t(buf, 0, time_boot_ms);
86  _mav_put_float(buf, 4, x);
87  _mav_put_float(buf, 8, y);
88  _mav_put_float(buf, 12, z);
89  _mav_put_float(buf, 16, vx);
90  _mav_put_float(buf, 20, vy);
91  _mav_put_float(buf, 24, vz);
92  _mav_put_float(buf, 28, afx);
93  _mav_put_float(buf, 32, afy);
94  _mav_put_float(buf, 36, afz);
95  _mav_put_float(buf, 40, yaw);
96  _mav_put_float(buf, 44, yaw_rate);
97  _mav_put_uint16_t(buf, 48, type_mask);
98  _mav_put_uint8_t(buf, 50, target_system);
99  _mav_put_uint8_t(buf, 51, target_component);
100  _mav_put_uint8_t(buf, 52, coordinate_frame);
101 
103 #else
105  packet.time_boot_ms = time_boot_ms;
106  packet.x = x;
107  packet.y = y;
108  packet.z = z;
109  packet.vx = vx;
110  packet.vy = vy;
111  packet.vz = vz;
112  packet.afx = afx;
113  packet.afy = afy;
114  packet.afz = afz;
115  packet.yaw = yaw;
116  packet.yaw_rate = yaw_rate;
117  packet.type_mask = type_mask;
118  packet.target_system = target_system;
121 
123 #endif
124 
126 #if MAVLINK_CRC_EXTRA
128 #else
130 #endif
131 }
132 
157 static inline uint16_t mavlink_msg_set_position_target_local_ned_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
158  mavlink_message_t* msg,
159  uint32_t time_boot_ms,uint8_t target_system,uint8_t target_component,uint8_t coordinate_frame,uint16_t type_mask,float x,float y,float z,float vx,float vy,float vz,float afx,float afy,float afz,float yaw,float yaw_rate)
160 {
161 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
163  _mav_put_uint32_t(buf, 0, time_boot_ms);
164  _mav_put_float(buf, 4, x);
165  _mav_put_float(buf, 8, y);
166  _mav_put_float(buf, 12, z);
167  _mav_put_float(buf, 16, vx);
168  _mav_put_float(buf, 20, vy);
169  _mav_put_float(buf, 24, vz);
170  _mav_put_float(buf, 28, afx);
171  _mav_put_float(buf, 32, afy);
172  _mav_put_float(buf, 36, afz);
173  _mav_put_float(buf, 40, yaw);
174  _mav_put_float(buf, 44, yaw_rate);
175  _mav_put_uint16_t(buf, 48, type_mask);
176  _mav_put_uint8_t(buf, 50, target_system);
177  _mav_put_uint8_t(buf, 51, target_component);
178  _mav_put_uint8_t(buf, 52, coordinate_frame);
179 
181 #else
183  packet.time_boot_ms = time_boot_ms;
184  packet.x = x;
185  packet.y = y;
186  packet.z = z;
187  packet.vx = vx;
188  packet.vy = vy;
189  packet.vz = vz;
190  packet.afx = afx;
191  packet.afy = afy;
192  packet.afz = afz;
193  packet.yaw = yaw;
194  packet.yaw_rate = yaw_rate;
195  packet.type_mask = type_mask;
196  packet.target_system = target_system;
199 
201 #endif
202 
204 #if MAVLINK_CRC_EXTRA
206 #else
207  return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED_LEN);
208 #endif
209 }
210 
219 static inline uint16_t mavlink_msg_set_position_target_local_ned_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_position_target_local_ned_t* set_position_target_local_ned)
220 {
221  return mavlink_msg_set_position_target_local_ned_pack(system_id, component_id, msg, set_position_target_local_ned->time_boot_ms, set_position_target_local_ned->target_system, set_position_target_local_ned->target_component, set_position_target_local_ned->coordinate_frame, set_position_target_local_ned->type_mask, set_position_target_local_ned->x, set_position_target_local_ned->y, set_position_target_local_ned->z, set_position_target_local_ned->vx, set_position_target_local_ned->vy, set_position_target_local_ned->vz, set_position_target_local_ned->afx, set_position_target_local_ned->afy, set_position_target_local_ned->afz, set_position_target_local_ned->yaw, set_position_target_local_ned->yaw_rate);
222 }
223 
233 static inline uint16_t mavlink_msg_set_position_target_local_ned_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_set_position_target_local_ned_t* set_position_target_local_ned)
234 {
235  return mavlink_msg_set_position_target_local_ned_pack_chan(system_id, component_id, chan, msg, set_position_target_local_ned->time_boot_ms, set_position_target_local_ned->target_system, set_position_target_local_ned->target_component, set_position_target_local_ned->coordinate_frame, set_position_target_local_ned->type_mask, set_position_target_local_ned->x, set_position_target_local_ned->y, set_position_target_local_ned->z, set_position_target_local_ned->vx, set_position_target_local_ned->vy, set_position_target_local_ned->vz, set_position_target_local_ned->afx, set_position_target_local_ned->afy, set_position_target_local_ned->afz, set_position_target_local_ned->yaw, set_position_target_local_ned->yaw_rate);
236 }
237 
259 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
260 
261 static inline void mavlink_msg_set_position_target_local_ned_send(mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t target_system, uint8_t target_component, uint8_t coordinate_frame, uint16_t type_mask, float x, float y, float z, float vx, float vy, float vz, float afx, float afy, float afz, float yaw, float yaw_rate)
262 {
263 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
266  _mav_put_float(buf, 4, x);
267  _mav_put_float(buf, 8, y);
268  _mav_put_float(buf, 12, z);
269  _mav_put_float(buf, 16, vx);
270  _mav_put_float(buf, 20, vy);
271  _mav_put_float(buf, 24, vz);
272  _mav_put_float(buf, 28, afx);
273  _mav_put_float(buf, 32, afy);
274  _mav_put_float(buf, 36, afz);
275  _mav_put_float(buf, 40, yaw);
276  _mav_put_float(buf, 44, yaw_rate);
277  _mav_put_uint16_t(buf, 48, type_mask);
281 
282 #if MAVLINK_CRC_EXTRA
284 #else
286 #endif
287 #else
289  packet.time_boot_ms = time_boot_ms;
290  packet.x = x;
291  packet.y = y;
292  packet.z = z;
293  packet.vx = vx;
294  packet.vy = vy;
295  packet.vz = vz;
296  packet.afx = afx;
297  packet.afy = afy;
298  packet.afz = afz;
299  packet.yaw = yaw;
300  packet.yaw_rate = yaw_rate;
301  packet.type_mask = type_mask;
302  packet.target_system = target_system;
305 
306 #if MAVLINK_CRC_EXTRA
308 #else
309  _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED, (const char *)&packet, MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED_LEN);
310 #endif
311 #endif
312 }
313 
314 #if MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED_LEN <= MAVLINK_MAX_PAYLOAD_LEN
315 /*
316  This varient of _send() can be used to save stack space by re-using
317  memory from the receive buffer. The caller provides a
318  mavlink_message_t which is the size of a full mavlink message. This
319  is usually the receive buffer for the channel, and allows a reply to an
320  incoming message with minimum stack space usage.
321  */
322 static inline void mavlink_msg_set_position_target_local_ned_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 coordinate_frame, uint16_t type_mask, float x, float y, float z, float vx, float vy, float vz, float afx, float afy, float afz, float yaw, float yaw_rate)
323 {
324 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
325  char *buf = (char *)msgbuf;
327  _mav_put_float(buf, 4, x);
328  _mav_put_float(buf, 8, y);
329  _mav_put_float(buf, 12, z);
330  _mav_put_float(buf, 16, vx);
331  _mav_put_float(buf, 20, vy);
332  _mav_put_float(buf, 24, vz);
333  _mav_put_float(buf, 28, afx);
334  _mav_put_float(buf, 32, afy);
335  _mav_put_float(buf, 36, afz);
336  _mav_put_float(buf, 40, yaw);
337  _mav_put_float(buf, 44, yaw_rate);
338  _mav_put_uint16_t(buf, 48, type_mask);
342 
343 #if MAVLINK_CRC_EXTRA
345 #else
347 #endif
348 #else
350  packet->time_boot_ms = time_boot_ms;
351  packet->x = x;
352  packet->y = y;
353  packet->z = z;
354  packet->vx = vx;
355  packet->vy = vy;
356  packet->vz = vz;
357  packet->afx = afx;
358  packet->afy = afy;
359  packet->afz = afz;
360  packet->yaw = yaw;
361  packet->yaw_rate = yaw_rate;
362  packet->type_mask = type_mask;
363  packet->target_system = target_system;
366 
367 #if MAVLINK_CRC_EXTRA
369 #else
370  _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED, (const char *)packet, MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED_LEN);
371 #endif
372 #endif
373 }
374 #endif
375 
376 #endif
377 
378 // MESSAGE SET_POSITION_TARGET_LOCAL_NED UNPACKING
379 
380 
386 static inline uint32_t mavlink_msg_set_position_target_local_ned_get_time_boot_ms(const mavlink_message_t* msg)
387 {
388  return _MAV_RETURN_uint32_t(msg, 0);
389 }
390 
396 static inline uint8_t mavlink_msg_set_position_target_local_ned_get_target_system(const mavlink_message_t* msg)
397 {
398  return _MAV_RETURN_uint8_t(msg, 50);
399 }
400 
406 static inline uint8_t mavlink_msg_set_position_target_local_ned_get_target_component(const mavlink_message_t* msg)
407 {
408  return _MAV_RETURN_uint8_t(msg, 51);
409 }
410 
416 static inline uint8_t mavlink_msg_set_position_target_local_ned_get_coordinate_frame(const mavlink_message_t* msg)
417 {
418  return _MAV_RETURN_uint8_t(msg, 52);
419 }
420 
426 static inline uint16_t mavlink_msg_set_position_target_local_ned_get_type_mask(const mavlink_message_t* msg)
427 {
428  return _MAV_RETURN_uint16_t(msg, 48);
429 }
430 
436 static inline float mavlink_msg_set_position_target_local_ned_get_x(const mavlink_message_t* msg)
437 {
438  return _MAV_RETURN_float(msg, 4);
439 }
440 
446 static inline float mavlink_msg_set_position_target_local_ned_get_y(const mavlink_message_t* msg)
447 {
448  return _MAV_RETURN_float(msg, 8);
449 }
450 
456 static inline float mavlink_msg_set_position_target_local_ned_get_z(const mavlink_message_t* msg)
457 {
458  return _MAV_RETURN_float(msg, 12);
459 }
460 
466 static inline float mavlink_msg_set_position_target_local_ned_get_vx(const mavlink_message_t* msg)
467 {
468  return _MAV_RETURN_float(msg, 16);
469 }
470 
476 static inline float mavlink_msg_set_position_target_local_ned_get_vy(const mavlink_message_t* msg)
477 {
478  return _MAV_RETURN_float(msg, 20);
479 }
480 
486 static inline float mavlink_msg_set_position_target_local_ned_get_vz(const mavlink_message_t* msg)
487 {
488  return _MAV_RETURN_float(msg, 24);
489 }
490 
496 static inline float mavlink_msg_set_position_target_local_ned_get_afx(const mavlink_message_t* msg)
497 {
498  return _MAV_RETURN_float(msg, 28);
499 }
500 
506 static inline float mavlink_msg_set_position_target_local_ned_get_afy(const mavlink_message_t* msg)
507 {
508  return _MAV_RETURN_float(msg, 32);
509 }
510 
516 static inline float mavlink_msg_set_position_target_local_ned_get_afz(const mavlink_message_t* msg)
517 {
518  return _MAV_RETURN_float(msg, 36);
519 }
520 
526 static inline float mavlink_msg_set_position_target_local_ned_get_yaw(const mavlink_message_t* msg)
527 {
528  return _MAV_RETURN_float(msg, 40);
529 }
530 
536 static inline float mavlink_msg_set_position_target_local_ned_get_yaw_rate(const mavlink_message_t* msg)
537 {
538  return _MAV_RETURN_float(msg, 44);
539 }
540 
547 static inline void mavlink_msg_set_position_target_local_ned_decode(const mavlink_message_t* msg, mavlink_set_position_target_local_ned_t* set_position_target_local_ned)
548 {
549 #if MAVLINK_NEED_BYTE_SWAP
550  set_position_target_local_ned->time_boot_ms = mavlink_msg_set_position_target_local_ned_get_time_boot_ms(msg);
551  set_position_target_local_ned->x = mavlink_msg_set_position_target_local_ned_get_x(msg);
552  set_position_target_local_ned->y = mavlink_msg_set_position_target_local_ned_get_y(msg);
553  set_position_target_local_ned->z = mavlink_msg_set_position_target_local_ned_get_z(msg);
554  set_position_target_local_ned->vx = mavlink_msg_set_position_target_local_ned_get_vx(msg);
555  set_position_target_local_ned->vy = mavlink_msg_set_position_target_local_ned_get_vy(msg);
556  set_position_target_local_ned->vz = mavlink_msg_set_position_target_local_ned_get_vz(msg);
557  set_position_target_local_ned->afx = mavlink_msg_set_position_target_local_ned_get_afx(msg);
558  set_position_target_local_ned->afy = mavlink_msg_set_position_target_local_ned_get_afy(msg);
559  set_position_target_local_ned->afz = mavlink_msg_set_position_target_local_ned_get_afz(msg);
560  set_position_target_local_ned->yaw = mavlink_msg_set_position_target_local_ned_get_yaw(msg);
561  set_position_target_local_ned->yaw_rate = mavlink_msg_set_position_target_local_ned_get_yaw_rate(msg);
562  set_position_target_local_ned->type_mask = mavlink_msg_set_position_target_local_ned_get_type_mask(msg);
566 #else
567  memcpy(set_position_target_local_ned, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED_LEN);
568 #endif
569 }
#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_uint16_t(buf, wire_offset, b)
Definition: protocol.h:145
#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