dji_sdk_dji2mav: mavlink_msg_param_map

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00001 // MESSAGE PARAM_MAP_RC PACKING
00002 
00003 #define MAVLINK_MSG_ID_PARAM_MAP_RC 50
00004 
00005 typedef struct __mavlink_param_map_rc_t
00006 {
00007  float param_value0; /*< Initial parameter value*/
00008  float scale; /*< Scale, maps the RC range [-1, 1] to a parameter value*/
00009  float param_value_min; /*< Minimum param value. The protocol does not define if this overwrites an onboard minimum value. (Depends on implementation)*/
00010  float param_value_max; /*< Maximum param value. The protocol does not define if this overwrites an onboard maximum value. (Depends on implementation)*/
00011  int16_t param_index; /*< Parameter index. Send -1 to use the param ID field as identifier (else the param id will be ignored), send -2 to disable any existing map for this rc_channel_index.*/
00012  uint8_t target_system; /*< System ID*/
00013  uint8_t target_component; /*< Component ID*/
00014  char param_id[16]; /*< Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string*/
00015  uint8_t parameter_rc_channel_index; /*< Index of parameter RC channel. Not equal to the RC channel id. Typically correpsonds to a potentiometer-knob on the RC.*/
00016 } mavlink_param_map_rc_t;
00017 
00018 #define MAVLINK_MSG_ID_PARAM_MAP_RC_LEN 37
00019 #define MAVLINK_MSG_ID_50_LEN 37
00020 
00021 #define MAVLINK_MSG_ID_PARAM_MAP_RC_CRC 78
00022 #define MAVLINK_MSG_ID_50_CRC 78
00023 
00024 #define MAVLINK_MSG_PARAM_MAP_RC_FIELD_PARAM_ID_LEN 16
00025 
00026 #define MAVLINK_MESSAGE_INFO_PARAM_MAP_RC { \
00027         "PARAM_MAP_RC", \
00028         9, \
00029         {  { "param_value0", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_param_map_rc_t, param_value0) }, \
00030          { "scale", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_param_map_rc_t, scale) }, \
00031          { "param_value_min", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_param_map_rc_t, param_value_min) }, \
00032          { "param_value_max", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_param_map_rc_t, param_value_max) }, \
00033          { "param_index", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_param_map_rc_t, param_index) }, \
00034          { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 18, offsetof(mavlink_param_map_rc_t, target_system) }, \
00035          { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 19, offsetof(mavlink_param_map_rc_t, target_component) }, \
00036          { "param_id", NULL, MAVLINK_TYPE_CHAR, 16, 20, offsetof(mavlink_param_map_rc_t, param_id) }, \
00037          { "parameter_rc_channel_index", NULL, MAVLINK_TYPE_UINT8_T, 0, 36, offsetof(mavlink_param_map_rc_t, parameter_rc_channel_index) }, \
00038          } \
00039 }
00040 
00041 
00059 static inline uint16_t mavlink_msg_param_map_rc_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
00060                                                        uint8_t target_system, uint8_t target_component, const char *param_id, int16_t param_index, uint8_t parameter_rc_channel_index, float param_value0, float scale, float param_value_min, float param_value_max)
00061 {
00062 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
00063         char buf[MAVLINK_MSG_ID_PARAM_MAP_RC_LEN];
00064         _mav_put_float(buf, 0, param_value0);
00065         _mav_put_float(buf, 4, scale);
00066         _mav_put_float(buf, 8, param_value_min);
00067         _mav_put_float(buf, 12, param_value_max);
00068         _mav_put_int16_t(buf, 16, param_index);
00069         _mav_put_uint8_t(buf, 18, target_system);
00070         _mav_put_uint8_t(buf, 19, target_component);
00071         _mav_put_uint8_t(buf, 36, parameter_rc_channel_index);
00072         _mav_put_char_array(buf, 20, param_id, 16);
00073         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_PARAM_MAP_RC_LEN);
00074 #else
00075         mavlink_param_map_rc_t packet;
00076         packet.param_value0 = param_value0;
00077         packet.scale = scale;
00078         packet.param_value_min = param_value_min;
00079         packet.param_value_max = param_value_max;
00080         packet.param_index = param_index;
00081         packet.target_system = target_system;
00082         packet.target_component = target_component;
00083         packet.parameter_rc_channel_index = parameter_rc_channel_index;
00084         mav_array_memcpy(packet.param_id, param_id, sizeof(char)*16);
00085         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_PARAM_MAP_RC_LEN);
00086 #endif
00087 
00088         msg->msgid = MAVLINK_MSG_ID_PARAM_MAP_RC;
00089 #if MAVLINK_CRC_EXTRA
00090     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_PARAM_MAP_RC_LEN, MAVLINK_MSG_ID_PARAM_MAP_RC_CRC);
00091 #else
00092     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_PARAM_MAP_RC_LEN);
00093 #endif
00094 }
00095 
00113 static inline uint16_t mavlink_msg_param_map_rc_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
00114                                                            mavlink_message_t* msg,
00115                                                            uint8_t target_system,uint8_t target_component,const char *param_id,int16_t param_index,uint8_t parameter_rc_channel_index,float param_value0,float scale,float param_value_min,float param_value_max)
00116 {
00117 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
00118         char buf[MAVLINK_MSG_ID_PARAM_MAP_RC_LEN];
00119         _mav_put_float(buf, 0, param_value0);
00120         _mav_put_float(buf, 4, scale);
00121         _mav_put_float(buf, 8, param_value_min);
00122         _mav_put_float(buf, 12, param_value_max);
00123         _mav_put_int16_t(buf, 16, param_index);
00124         _mav_put_uint8_t(buf, 18, target_system);
00125         _mav_put_uint8_t(buf, 19, target_component);
00126         _mav_put_uint8_t(buf, 36, parameter_rc_channel_index);
00127         _mav_put_char_array(buf, 20, param_id, 16);
00128         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_PARAM_MAP_RC_LEN);
00129 #else
00130         mavlink_param_map_rc_t packet;
00131         packet.param_value0 = param_value0;
00132         packet.scale = scale;
00133         packet.param_value_min = param_value_min;
00134         packet.param_value_max = param_value_max;
00135         packet.param_index = param_index;
00136         packet.target_system = target_system;
00137         packet.target_component = target_component;
00138         packet.parameter_rc_channel_index = parameter_rc_channel_index;
00139         mav_array_memcpy(packet.param_id, param_id, sizeof(char)*16);
00140         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_PARAM_MAP_RC_LEN);
00141 #endif
00142 
00143         msg->msgid = MAVLINK_MSG_ID_PARAM_MAP_RC;
00144 #if MAVLINK_CRC_EXTRA
00145     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_PARAM_MAP_RC_LEN, MAVLINK_MSG_ID_PARAM_MAP_RC_CRC);
00146 #else
00147     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_PARAM_MAP_RC_LEN);
00148 #endif
00149 }
00150 
00159 static inline uint16_t mavlink_msg_param_map_rc_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_param_map_rc_t* param_map_rc)
00160 {
00161         return mavlink_msg_param_map_rc_pack(system_id, component_id, msg, param_map_rc->target_system, param_map_rc->target_component, param_map_rc->param_id, param_map_rc->param_index, param_map_rc->parameter_rc_channel_index, param_map_rc->param_value0, param_map_rc->scale, param_map_rc->param_value_min, param_map_rc->param_value_max);
00162 }
00163 
00173 static inline uint16_t mavlink_msg_param_map_rc_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_param_map_rc_t* param_map_rc)
00174 {
00175         return mavlink_msg_param_map_rc_pack_chan(system_id, component_id, chan, msg, param_map_rc->target_system, param_map_rc->target_component, param_map_rc->param_id, param_map_rc->param_index, param_map_rc->parameter_rc_channel_index, param_map_rc->param_value0, param_map_rc->scale, param_map_rc->param_value_min, param_map_rc->param_value_max);
00176 }
00177 
00192 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
00193 
00194 static inline void mavlink_msg_param_map_rc_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, const char *param_id, int16_t param_index, uint8_t parameter_rc_channel_index, float param_value0, float scale, float param_value_min, float param_value_max)
00195 {
00196 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
00197         char buf[MAVLINK_MSG_ID_PARAM_MAP_RC_LEN];
00198         _mav_put_float(buf, 0, param_value0);
00199         _mav_put_float(buf, 4, scale);
00200         _mav_put_float(buf, 8, param_value_min);
00201         _mav_put_float(buf, 12, param_value_max);
00202         _mav_put_int16_t(buf, 16, param_index);
00203         _mav_put_uint8_t(buf, 18, target_system);
00204         _mav_put_uint8_t(buf, 19, target_component);
00205         _mav_put_uint8_t(buf, 36, parameter_rc_channel_index);
00206         _mav_put_char_array(buf, 20, param_id, 16);
00207 #if MAVLINK_CRC_EXTRA
00208     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_MAP_RC, buf, MAVLINK_MSG_ID_PARAM_MAP_RC_LEN, MAVLINK_MSG_ID_PARAM_MAP_RC_CRC);
00209 #else
00210     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_MAP_RC, buf, MAVLINK_MSG_ID_PARAM_MAP_RC_LEN);
00211 #endif
00212 #else
00213         mavlink_param_map_rc_t packet;
00214         packet.param_value0 = param_value0;
00215         packet.scale = scale;
00216         packet.param_value_min = param_value_min;
00217         packet.param_value_max = param_value_max;
00218         packet.param_index = param_index;
00219         packet.target_system = target_system;
00220         packet.target_component = target_component;
00221         packet.parameter_rc_channel_index = parameter_rc_channel_index;
00222         mav_array_memcpy(packet.param_id, param_id, sizeof(char)*16);
00223 #if MAVLINK_CRC_EXTRA
00224     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_MAP_RC, (const char *)&packet, MAVLINK_MSG_ID_PARAM_MAP_RC_LEN, MAVLINK_MSG_ID_PARAM_MAP_RC_CRC);
00225 #else
00226     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_MAP_RC, (const char *)&packet, MAVLINK_MSG_ID_PARAM_MAP_RC_LEN);
00227 #endif
00228 #endif
00229 }
00230 
00231 #if MAVLINK_MSG_ID_PARAM_MAP_RC_LEN <= MAVLINK_MAX_PAYLOAD_LEN
00232 /*
00233   This varient of _send() can be used to save stack space by re-using
00234   memory from the receive buffer.  The caller provides a
00235   mavlink_message_t which is the size of a full mavlink message. This
00236   is usually the receive buffer for the channel, and allows a reply to an
00237   incoming message with minimum stack space usage.
00238  */
00239 static inline void mavlink_msg_param_map_rc_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint8_t target_system, uint8_t target_component, const char *param_id, int16_t param_index, uint8_t parameter_rc_channel_index, float param_value0, float scale, float param_value_min, float param_value_max)
00240 {
00241 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
00242         char *buf = (char *)msgbuf;
00243         _mav_put_float(buf, 0, param_value0);
00244         _mav_put_float(buf, 4, scale);
00245         _mav_put_float(buf, 8, param_value_min);
00246         _mav_put_float(buf, 12, param_value_max);
00247         _mav_put_int16_t(buf, 16, param_index);
00248         _mav_put_uint8_t(buf, 18, target_system);
00249         _mav_put_uint8_t(buf, 19, target_component);
00250         _mav_put_uint8_t(buf, 36, parameter_rc_channel_index);
00251         _mav_put_char_array(buf, 20, param_id, 16);
00252 #if MAVLINK_CRC_EXTRA
00253     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_MAP_RC, buf, MAVLINK_MSG_ID_PARAM_MAP_RC_LEN, MAVLINK_MSG_ID_PARAM_MAP_RC_CRC);
00254 #else
00255     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_MAP_RC, buf, MAVLINK_MSG_ID_PARAM_MAP_RC_LEN);
00256 #endif
00257 #else
00258         mavlink_param_map_rc_t *packet = (mavlink_param_map_rc_t *)msgbuf;
00259         packet->param_value0 = param_value0;
00260         packet->scale = scale;
00261         packet->param_value_min = param_value_min;
00262         packet->param_value_max = param_value_max;
00263         packet->param_index = param_index;
00264         packet->target_system = target_system;
00265         packet->target_component = target_component;
00266         packet->parameter_rc_channel_index = parameter_rc_channel_index;
00267         mav_array_memcpy(packet->param_id, param_id, sizeof(char)*16);
00268 #if MAVLINK_CRC_EXTRA
00269     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_MAP_RC, (const char *)packet, MAVLINK_MSG_ID_PARAM_MAP_RC_LEN, MAVLINK_MSG_ID_PARAM_MAP_RC_CRC);
00270 #else
00271     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_MAP_RC, (const char *)packet, MAVLINK_MSG_ID_PARAM_MAP_RC_LEN);
00272 #endif
00273 #endif
00274 }
00275 #endif
00276 
00277 #endif
00278 
00279 // MESSAGE PARAM_MAP_RC UNPACKING
00280 
00281 
00287 static inline uint8_t mavlink_msg_param_map_rc_get_target_system(const mavlink_message_t* msg)
00288 {
00289         return _MAV_RETURN_uint8_t(msg,  18);
00290 }
00291 
00297 static inline uint8_t mavlink_msg_param_map_rc_get_target_component(const mavlink_message_t* msg)
00298 {
00299         return _MAV_RETURN_uint8_t(msg,  19);
00300 }
00301 
00307 static inline uint16_t mavlink_msg_param_map_rc_get_param_id(const mavlink_message_t* msg, char *param_id)
00308 {
00309         return _MAV_RETURN_char_array(msg, param_id, 16,  20);
00310 }
00311 
00317 static inline int16_t mavlink_msg_param_map_rc_get_param_index(const mavlink_message_t* msg)
00318 {
00319         return _MAV_RETURN_int16_t(msg,  16);
00320 }
00321 
00327 static inline uint8_t mavlink_msg_param_map_rc_get_parameter_rc_channel_index(const mavlink_message_t* msg)
00328 {
00329         return _MAV_RETURN_uint8_t(msg,  36);
00330 }
00331 
00337 static inline float mavlink_msg_param_map_rc_get_param_value0(const mavlink_message_t* msg)
00338 {
00339         return _MAV_RETURN_float(msg,  0);
00340 }
00341 
00347 static inline float mavlink_msg_param_map_rc_get_scale(const mavlink_message_t* msg)
00348 {
00349         return _MAV_RETURN_float(msg,  4);
00350 }
00351 
00357 static inline float mavlink_msg_param_map_rc_get_param_value_min(const mavlink_message_t* msg)
00358 {
00359         return _MAV_RETURN_float(msg,  8);
00360 }
00361 
00367 static inline float mavlink_msg_param_map_rc_get_param_value_max(const mavlink_message_t* msg)
00368 {
00369         return _MAV_RETURN_float(msg,  12);
00370 }
00371 
00378 static inline void mavlink_msg_param_map_rc_decode(const mavlink_message_t* msg, mavlink_param_map_rc_t* param_map_rc)
00379 {
00380 #if MAVLINK_NEED_BYTE_SWAP
00381         param_map_rc->param_value0 = mavlink_msg_param_map_rc_get_param_value0(msg);
00382         param_map_rc->scale = mavlink_msg_param_map_rc_get_scale(msg);
00383         param_map_rc->param_value_min = mavlink_msg_param_map_rc_get_param_value_min(msg);
00384         param_map_rc->param_value_max = mavlink_msg_param_map_rc_get_param_value_max(msg);
00385         param_map_rc->param_index = mavlink_msg_param_map_rc_get_param_index(msg);
00386         param_map_rc->target_system = mavlink_msg_param_map_rc_get_target_system(msg);
00387         param_map_rc->target_component = mavlink_msg_param_map_rc_get_target_component(msg);
00388         mavlink_msg_param_map_rc_get_param_id(msg, param_map_rc->param_id);
00389         param_map_rc->parameter_rc_channel_index = mavlink_msg_param_map_rc_get_parameter_rc_channel_index(msg);
00390 #else
00391         memcpy(param_map_rc, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_PARAM_MAP_RC_LEN);
00392 #endif
00393 }