dji_sdk_dji2mav: mavlink_msg_actuator_control

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00001 // MESSAGE ACTUATOR_CONTROL_TARGET PACKING
00002 
00003 #define MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET 140
00004 
00005 typedef struct __mavlink_actuator_control_target_t
00006 {
00007  uint64_t time_usec; /*< Timestamp (micros since boot or Unix epoch)*/
00008  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.*/
00009  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.*/
00010 } mavlink_actuator_control_target_t;
00011 
00012 #define MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN 41
00013 #define MAVLINK_MSG_ID_140_LEN 41
00014 
00015 #define MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_CRC 181
00016 #define MAVLINK_MSG_ID_140_CRC 181
00017 
00018 #define MAVLINK_MSG_ACTUATOR_CONTROL_TARGET_FIELD_CONTROLS_LEN 8
00019 
00020 #define MAVLINK_MESSAGE_INFO_ACTUATOR_CONTROL_TARGET { \
00021         "ACTUATOR_CONTROL_TARGET", \
00022         3, \
00023         {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_actuator_control_target_t, time_usec) }, \
00024          { "controls", NULL, MAVLINK_TYPE_FLOAT, 8, 8, offsetof(mavlink_actuator_control_target_t, controls) }, \
00025          { "group_mlx", NULL, MAVLINK_TYPE_UINT8_T, 0, 40, offsetof(mavlink_actuator_control_target_t, group_mlx) }, \
00026          } \
00027 }
00028 
00029 
00041 static inline uint16_t mavlink_msg_actuator_control_target_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
00042                                                        uint64_t time_usec, uint8_t group_mlx, const float *controls)
00043 {
00044 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
00045         char buf[MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN];
00046         _mav_put_uint64_t(buf, 0, time_usec);
00047         _mav_put_uint8_t(buf, 40, group_mlx);
00048         _mav_put_float_array(buf, 8, controls, 8);
00049         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN);
00050 #else
00051         mavlink_actuator_control_target_t packet;
00052         packet.time_usec = time_usec;
00053         packet.group_mlx = group_mlx;
00054         mav_array_memcpy(packet.controls, controls, sizeof(float)*8);
00055         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN);
00056 #endif
00057 
00058         msg->msgid = MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET;
00059 #if MAVLINK_CRC_EXTRA
00060     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_CRC);
00061 #else
00062     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN);
00063 #endif
00064 }
00065 
00077 static inline uint16_t mavlink_msg_actuator_control_target_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
00078                                                            mavlink_message_t* msg,
00079                                                            uint64_t time_usec,uint8_t group_mlx,const float *controls)
00080 {
00081 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
00082         char buf[MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN];
00083         _mav_put_uint64_t(buf, 0, time_usec);
00084         _mav_put_uint8_t(buf, 40, group_mlx);
00085         _mav_put_float_array(buf, 8, controls, 8);
00086         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN);
00087 #else
00088         mavlink_actuator_control_target_t packet;
00089         packet.time_usec = time_usec;
00090         packet.group_mlx = group_mlx;
00091         mav_array_memcpy(packet.controls, controls, sizeof(float)*8);
00092         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN);
00093 #endif
00094 
00095         msg->msgid = MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET;
00096 #if MAVLINK_CRC_EXTRA
00097     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_CRC);
00098 #else
00099     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN);
00100 #endif
00101 }
00102 
00111 static inline uint16_t mavlink_msg_actuator_control_target_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_actuator_control_target_t* actuator_control_target)
00112 {
00113         return mavlink_msg_actuator_control_target_pack(system_id, component_id, msg, actuator_control_target->time_usec, actuator_control_target->group_mlx, actuator_control_target->controls);
00114 }
00115 
00125 static inline uint16_t mavlink_msg_actuator_control_target_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_actuator_control_target_t* actuator_control_target)
00126 {
00127         return mavlink_msg_actuator_control_target_pack_chan(system_id, component_id, chan, msg, actuator_control_target->time_usec, actuator_control_target->group_mlx, actuator_control_target->controls);
00128 }
00129 
00138 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
00139 
00140 static inline void mavlink_msg_actuator_control_target_send(mavlink_channel_t chan, uint64_t time_usec, uint8_t group_mlx, const float *controls)
00141 {
00142 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
00143         char buf[MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN];
00144         _mav_put_uint64_t(buf, 0, time_usec);
00145         _mav_put_uint8_t(buf, 40, group_mlx);
00146         _mav_put_float_array(buf, 8, controls, 8);
00147 #if MAVLINK_CRC_EXTRA
00148     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET, buf, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_CRC);
00149 #else
00150     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET, buf, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN);
00151 #endif
00152 #else
00153         mavlink_actuator_control_target_t packet;
00154         packet.time_usec = time_usec;
00155         packet.group_mlx = group_mlx;
00156         mav_array_memcpy(packet.controls, controls, sizeof(float)*8);
00157 #if MAVLINK_CRC_EXTRA
00158     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET, (const char *)&packet, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_CRC);
00159 #else
00160     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET, (const char *)&packet, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN);
00161 #endif
00162 #endif
00163 }
00164 
00165 #if MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN <= MAVLINK_MAX_PAYLOAD_LEN
00166 /*
00167   This varient of _send() can be used to save stack space by re-using
00168   memory from the receive buffer.  The caller provides a
00169   mavlink_message_t which is the size of a full mavlink message. This
00170   is usually the receive buffer for the channel, and allows a reply to an
00171   incoming message with minimum stack space usage.
00172  */
00173 static inline void mavlink_msg_actuator_control_target_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint64_t time_usec, uint8_t group_mlx, const float *controls)
00174 {
00175 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
00176         char *buf = (char *)msgbuf;
00177         _mav_put_uint64_t(buf, 0, time_usec);
00178         _mav_put_uint8_t(buf, 40, group_mlx);
00179         _mav_put_float_array(buf, 8, controls, 8);
00180 #if MAVLINK_CRC_EXTRA
00181     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET, buf, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_CRC);
00182 #else
00183     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET, buf, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN);
00184 #endif
00185 #else
00186         mavlink_actuator_control_target_t *packet = (mavlink_actuator_control_target_t *)msgbuf;
00187         packet->time_usec = time_usec;
00188         packet->group_mlx = group_mlx;
00189         mav_array_memcpy(packet->controls, controls, sizeof(float)*8);
00190 #if MAVLINK_CRC_EXTRA
00191     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET, (const char *)packet, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_CRC);
00192 #else
00193     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET, (const char *)packet, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN);
00194 #endif
00195 #endif
00196 }
00197 #endif
00198 
00199 #endif
00200 
00201 // MESSAGE ACTUATOR_CONTROL_TARGET UNPACKING
00202 
00203 
00209 static inline uint64_t mavlink_msg_actuator_control_target_get_time_usec(const mavlink_message_t* msg)
00210 {
00211         return _MAV_RETURN_uint64_t(msg,  0);
00212 }
00213 
00219 static inline uint8_t mavlink_msg_actuator_control_target_get_group_mlx(const mavlink_message_t* msg)
00220 {
00221         return _MAV_RETURN_uint8_t(msg,  40);
00222 }
00223 
00229 static inline uint16_t mavlink_msg_actuator_control_target_get_controls(const mavlink_message_t* msg, float *controls)
00230 {
00231         return _MAV_RETURN_float_array(msg, controls, 8,  8);
00232 }
00233 
00240 static inline void mavlink_msg_actuator_control_target_decode(const mavlink_message_t* msg, mavlink_actuator_control_target_t* actuator_control_target)
00241 {
00242 #if MAVLINK_NEED_BYTE_SWAP
00243         actuator_control_target->time_usec = mavlink_msg_actuator_control_target_get_time_usec(msg);
00244         mavlink_msg_actuator_control_target_get_controls(msg, actuator_control_target->controls);
00245         actuator_control_target->group_mlx = mavlink_msg_actuator_control_target_get_group_mlx(msg);
00246 #else
00247         memcpy(actuator_control_target, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN);
00248 #endif
00249 }