00001
00002
00003 #define MAVLINK_MSG_ID_ATTITUDE_TARGET 83
00004
00005 typedef struct __mavlink_attitude_target_t
00006 {
00007 uint32_t time_boot_ms;
00008 float q[4];
00009 float body_roll_rate;
00010 float body_pitch_rate;
00011 float body_yaw_rate;
00012 float thrust;
00013 uint8_t type_mask;
00014 } mavlink_attitude_target_t;
00015
00016 #define MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN 37
00017 #define MAVLINK_MSG_ID_83_LEN 37
00018
00019 #define MAVLINK_MSG_ID_ATTITUDE_TARGET_CRC 22
00020 #define MAVLINK_MSG_ID_83_CRC 22
00021
00022 #define MAVLINK_MSG_ATTITUDE_TARGET_FIELD_Q_LEN 4
00023
00024 #define MAVLINK_MESSAGE_INFO_ATTITUDE_TARGET { \
00025 "ATTITUDE_TARGET", \
00026 7, \
00027 { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_attitude_target_t, time_boot_ms) }, \
00028 { "q", NULL, MAVLINK_TYPE_FLOAT, 4, 4, offsetof(mavlink_attitude_target_t, q) }, \
00029 { "body_roll_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_attitude_target_t, body_roll_rate) }, \
00030 { "body_pitch_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_attitude_target_t, body_pitch_rate) }, \
00031 { "body_yaw_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_attitude_target_t, body_yaw_rate) }, \
00032 { "thrust", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_attitude_target_t, thrust) }, \
00033 { "type_mask", NULL, MAVLINK_TYPE_UINT8_T, 0, 36, offsetof(mavlink_attitude_target_t, type_mask) }, \
00034 } \
00035 }
00036
00037
00053 static inline uint16_t mavlink_msg_attitude_target_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
00054 uint32_t time_boot_ms, uint8_t type_mask, const float *q, float body_roll_rate, float body_pitch_rate, float body_yaw_rate, float thrust)
00055 {
00056 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
00057 char buf[MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN];
00058 _mav_put_uint32_t(buf, 0, time_boot_ms);
00059 _mav_put_float(buf, 20, body_roll_rate);
00060 _mav_put_float(buf, 24, body_pitch_rate);
00061 _mav_put_float(buf, 28, body_yaw_rate);
00062 _mav_put_float(buf, 32, thrust);
00063 _mav_put_uint8_t(buf, 36, type_mask);
00064 _mav_put_float_array(buf, 4, q, 4);
00065 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN);
00066 #else
00067 mavlink_attitude_target_t packet;
00068 packet.time_boot_ms = time_boot_ms;
00069 packet.body_roll_rate = body_roll_rate;
00070 packet.body_pitch_rate = body_pitch_rate;
00071 packet.body_yaw_rate = body_yaw_rate;
00072 packet.thrust = thrust;
00073 packet.type_mask = type_mask;
00074 mav_array_memcpy(packet.q, q, sizeof(float)*4);
00075 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN);
00076 #endif
00077
00078 msg->msgid = MAVLINK_MSG_ID_ATTITUDE_TARGET;
00079 #if MAVLINK_CRC_EXTRA
00080 return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN, MAVLINK_MSG_ID_ATTITUDE_TARGET_CRC);
00081 #else
00082 return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN);
00083 #endif
00084 }
00085
00101 static inline uint16_t mavlink_msg_attitude_target_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
00102 mavlink_message_t* msg,
00103 uint32_t time_boot_ms,uint8_t type_mask,const float *q,float body_roll_rate,float body_pitch_rate,float body_yaw_rate,float thrust)
00104 {
00105 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
00106 char buf[MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN];
00107 _mav_put_uint32_t(buf, 0, time_boot_ms);
00108 _mav_put_float(buf, 20, body_roll_rate);
00109 _mav_put_float(buf, 24, body_pitch_rate);
00110 _mav_put_float(buf, 28, body_yaw_rate);
00111 _mav_put_float(buf, 32, thrust);
00112 _mav_put_uint8_t(buf, 36, type_mask);
00113 _mav_put_float_array(buf, 4, q, 4);
00114 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN);
00115 #else
00116 mavlink_attitude_target_t packet;
00117 packet.time_boot_ms = time_boot_ms;
00118 packet.body_roll_rate = body_roll_rate;
00119 packet.body_pitch_rate = body_pitch_rate;
00120 packet.body_yaw_rate = body_yaw_rate;
00121 packet.thrust = thrust;
00122 packet.type_mask = type_mask;
00123 mav_array_memcpy(packet.q, q, sizeof(float)*4);
00124 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN);
00125 #endif
00126
00127 msg->msgid = MAVLINK_MSG_ID_ATTITUDE_TARGET;
00128 #if MAVLINK_CRC_EXTRA
00129 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN, MAVLINK_MSG_ID_ATTITUDE_TARGET_CRC);
00130 #else
00131 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN);
00132 #endif
00133 }
00134
00143 static inline uint16_t mavlink_msg_attitude_target_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_attitude_target_t* attitude_target)
00144 {
00145 return mavlink_msg_attitude_target_pack(system_id, component_id, msg, attitude_target->time_boot_ms, attitude_target->type_mask, attitude_target->q, attitude_target->body_roll_rate, attitude_target->body_pitch_rate, attitude_target->body_yaw_rate, attitude_target->thrust);
00146 }
00147
00157 static inline uint16_t mavlink_msg_attitude_target_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_attitude_target_t* attitude_target)
00158 {
00159 return mavlink_msg_attitude_target_pack_chan(system_id, component_id, chan, msg, attitude_target->time_boot_ms, attitude_target->type_mask, attitude_target->q, attitude_target->body_roll_rate, attitude_target->body_pitch_rate, attitude_target->body_yaw_rate, attitude_target->thrust);
00160 }
00161
00174 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
00175
00176 static inline void mavlink_msg_attitude_target_send(mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t type_mask, const float *q, float body_roll_rate, float body_pitch_rate, float body_yaw_rate, float thrust)
00177 {
00178 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
00179 char buf[MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN];
00180 _mav_put_uint32_t(buf, 0, time_boot_ms);
00181 _mav_put_float(buf, 20, body_roll_rate);
00182 _mav_put_float(buf, 24, body_pitch_rate);
00183 _mav_put_float(buf, 28, body_yaw_rate);
00184 _mav_put_float(buf, 32, thrust);
00185 _mav_put_uint8_t(buf, 36, type_mask);
00186 _mav_put_float_array(buf, 4, q, 4);
00187 #if MAVLINK_CRC_EXTRA
00188 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_TARGET, buf, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN, MAVLINK_MSG_ID_ATTITUDE_TARGET_CRC);
00189 #else
00190 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_TARGET, buf, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN);
00191 #endif
00192 #else
00193 mavlink_attitude_target_t packet;
00194 packet.time_boot_ms = time_boot_ms;
00195 packet.body_roll_rate = body_roll_rate;
00196 packet.body_pitch_rate = body_pitch_rate;
00197 packet.body_yaw_rate = body_yaw_rate;
00198 packet.thrust = thrust;
00199 packet.type_mask = type_mask;
00200 mav_array_memcpy(packet.q, q, sizeof(float)*4);
00201 #if MAVLINK_CRC_EXTRA
00202 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_TARGET, (const char *)&packet, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN, MAVLINK_MSG_ID_ATTITUDE_TARGET_CRC);
00203 #else
00204 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_TARGET, (const char *)&packet, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN);
00205 #endif
00206 #endif
00207 }
00208
00209 #if MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN <= MAVLINK_MAX_PAYLOAD_LEN
00210
00211
00212
00213
00214
00215
00216
00217 static inline void mavlink_msg_attitude_target_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t type_mask, const float *q, float body_roll_rate, float body_pitch_rate, float body_yaw_rate, float thrust)
00218 {
00219 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
00220 char *buf = (char *)msgbuf;
00221 _mav_put_uint32_t(buf, 0, time_boot_ms);
00222 _mav_put_float(buf, 20, body_roll_rate);
00223 _mav_put_float(buf, 24, body_pitch_rate);
00224 _mav_put_float(buf, 28, body_yaw_rate);
00225 _mav_put_float(buf, 32, thrust);
00226 _mav_put_uint8_t(buf, 36, type_mask);
00227 _mav_put_float_array(buf, 4, q, 4);
00228 #if MAVLINK_CRC_EXTRA
00229 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_TARGET, buf, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN, MAVLINK_MSG_ID_ATTITUDE_TARGET_CRC);
00230 #else
00231 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_TARGET, buf, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN);
00232 #endif
00233 #else
00234 mavlink_attitude_target_t *packet = (mavlink_attitude_target_t *)msgbuf;
00235 packet->time_boot_ms = time_boot_ms;
00236 packet->body_roll_rate = body_roll_rate;
00237 packet->body_pitch_rate = body_pitch_rate;
00238 packet->body_yaw_rate = body_yaw_rate;
00239 packet->thrust = thrust;
00240 packet->type_mask = type_mask;
00241 mav_array_memcpy(packet->q, q, sizeof(float)*4);
00242 #if MAVLINK_CRC_EXTRA
00243 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_TARGET, (const char *)packet, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN, MAVLINK_MSG_ID_ATTITUDE_TARGET_CRC);
00244 #else
00245 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_TARGET, (const char *)packet, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN);
00246 #endif
00247 #endif
00248 }
00249 #endif
00250
00251 #endif
00252
00253
00254
00255
00261 static inline uint32_t mavlink_msg_attitude_target_get_time_boot_ms(const mavlink_message_t* msg)
00262 {
00263 return _MAV_RETURN_uint32_t(msg, 0);
00264 }
00265
00271 static inline uint8_t mavlink_msg_attitude_target_get_type_mask(const mavlink_message_t* msg)
00272 {
00273 return _MAV_RETURN_uint8_t(msg, 36);
00274 }
00275
00281 static inline uint16_t mavlink_msg_attitude_target_get_q(const mavlink_message_t* msg, float *q)
00282 {
00283 return _MAV_RETURN_float_array(msg, q, 4, 4);
00284 }
00285
00291 static inline float mavlink_msg_attitude_target_get_body_roll_rate(const mavlink_message_t* msg)
00292 {
00293 return _MAV_RETURN_float(msg, 20);
00294 }
00295
00301 static inline float mavlink_msg_attitude_target_get_body_pitch_rate(const mavlink_message_t* msg)
00302 {
00303 return _MAV_RETURN_float(msg, 24);
00304 }
00305
00311 static inline float mavlink_msg_attitude_target_get_body_yaw_rate(const mavlink_message_t* msg)
00312 {
00313 return _MAV_RETURN_float(msg, 28);
00314 }
00315
00321 static inline float mavlink_msg_attitude_target_get_thrust(const mavlink_message_t* msg)
00322 {
00323 return _MAV_RETURN_float(msg, 32);
00324 }
00325
00332 static inline void mavlink_msg_attitude_target_decode(const mavlink_message_t* msg, mavlink_attitude_target_t* attitude_target)
00333 {
00334 #if MAVLINK_NEED_BYTE_SWAP
00335 attitude_target->time_boot_ms = mavlink_msg_attitude_target_get_time_boot_ms(msg);
00336 mavlink_msg_attitude_target_get_q(msg, attitude_target->q);
00337 attitude_target->body_roll_rate = mavlink_msg_attitude_target_get_body_roll_rate(msg);
00338 attitude_target->body_pitch_rate = mavlink_msg_attitude_target_get_body_pitch_rate(msg);
00339 attitude_target->body_yaw_rate = mavlink_msg_attitude_target_get_body_yaw_rate(msg);
00340 attitude_target->thrust = mavlink_msg_attitude_target_get_thrust(msg);
00341 attitude_target->type_mask = mavlink_msg_attitude_target_get_type_mask(msg);
00342 #else
00343 memcpy(attitude_target, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN);
00344 #endif
00345 }