Diff: MAVlink/include/common/mavlink_msg_hil_controls.h

Revision:

0:826c6171fc1b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MAVlink/include/common/mavlink_msg_hil_controls.h	Wed Jun 20 14:57:48 2012 +0000
@@ -0,0 +1,232 @@
+// MESSAGE HIL_CONTROLS PACKING
+
+#define MAVLINK_MSG_ID_HIL_CONTROLS 68
+
+typedef struct __mavlink_hil_controls_t 
+{
+	uint64_t time_us; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
+	float roll_ailerons; ///< Control output -3 .. 1
+	float pitch_elevator; ///< Control output -1 .. 1
+	float yaw_rudder; ///< Control output -1 .. 1
+	float throttle; ///< Throttle 0 .. 1
+	uint8_t mode; ///< System mode (MAV_MODE)
+	uint8_t nav_mode; ///< Navigation mode (MAV_NAV_MODE)
+
+} mavlink_hil_controls_t;
+
+
+
+/**
+ * @brief Pack a hil_controls message
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ *
+ * @param time_us Timestamp (microseconds since UNIX epoch or microseconds since system boot)
+ * @param roll_ailerons Control output -3 .. 1
+ * @param pitch_elevator Control output -1 .. 1
+ * @param yaw_rudder Control output -1 .. 1
+ * @param throttle Throttle 0 .. 1
+ * @param mode System mode (MAV_MODE)
+ * @param nav_mode Navigation mode (MAV_NAV_MODE)
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_hil_controls_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t time_us, float roll_ailerons, float pitch_elevator, float yaw_rudder, float throttle, uint8_t mode, uint8_t nav_mode)
+{
+	uint16_t i = 0;
+	msg->msgid = MAVLINK_MSG_ID_HIL_CONTROLS;
+
+	i += put_uint64_t_by_index(time_us, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot)
+	i += put_float_by_index(roll_ailerons, i, msg->payload); // Control output -3 .. 1
+	i += put_float_by_index(pitch_elevator, i, msg->payload); // Control output -1 .. 1
+	i += put_float_by_index(yaw_rudder, i, msg->payload); // Control output -1 .. 1
+	i += put_float_by_index(throttle, i, msg->payload); // Throttle 0 .. 1
+	i += put_uint8_t_by_index(mode, i, msg->payload); // System mode (MAV_MODE)
+	i += put_uint8_t_by_index(nav_mode, i, msg->payload); // Navigation mode (MAV_NAV_MODE)
+
+	return mavlink_finalize_message(msg, system_id, component_id, i);
+}
+
+/**
+ * @brief Pack a hil_controls message
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param time_us Timestamp (microseconds since UNIX epoch or microseconds since system boot)
+ * @param roll_ailerons Control output -3 .. 1
+ * @param pitch_elevator Control output -1 .. 1
+ * @param yaw_rudder Control output -1 .. 1
+ * @param throttle Throttle 0 .. 1
+ * @param mode System mode (MAV_MODE)
+ * @param nav_mode Navigation mode (MAV_NAV_MODE)
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_hil_controls_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t time_us, float roll_ailerons, float pitch_elevator, float yaw_rudder, float throttle, uint8_t mode, uint8_t nav_mode)
+{
+	uint16_t i = 0;
+	msg->msgid = MAVLINK_MSG_ID_HIL_CONTROLS;
+
+	i += put_uint64_t_by_index(time_us, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot)
+	i += put_float_by_index(roll_ailerons, i, msg->payload); // Control output -3 .. 1
+	i += put_float_by_index(pitch_elevator, i, msg->payload); // Control output -1 .. 1
+	i += put_float_by_index(yaw_rudder, i, msg->payload); // Control output -1 .. 1
+	i += put_float_by_index(throttle, i, msg->payload); // Throttle 0 .. 1
+	i += put_uint8_t_by_index(mode, i, msg->payload); // System mode (MAV_MODE)
+	i += put_uint8_t_by_index(nav_mode, i, msg->payload); // Navigation mode (MAV_NAV_MODE)
+
+	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
+}
+
+/**
+ * @brief Encode a hil_controls struct into a message
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ * @param hil_controls C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_hil_controls_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hil_controls_t* hil_controls)
+{
+	return mavlink_msg_hil_controls_pack(system_id, component_id, msg, hil_controls->time_us, hil_controls->roll_ailerons, hil_controls->pitch_elevator, hil_controls->yaw_rudder, hil_controls->throttle, hil_controls->mode, hil_controls->nav_mode);
+}
+
+/**
+ * @brief Send a hil_controls message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param time_us Timestamp (microseconds since UNIX epoch or microseconds since system boot)
+ * @param roll_ailerons Control output -3 .. 1
+ * @param pitch_elevator Control output -1 .. 1
+ * @param yaw_rudder Control output -1 .. 1
+ * @param throttle Throttle 0 .. 1
+ * @param mode System mode (MAV_MODE)
+ * @param nav_mode Navigation mode (MAV_NAV_MODE)
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_hil_controls_send(mavlink_channel_t chan, uint64_t time_us, float roll_ailerons, float pitch_elevator, float yaw_rudder, float throttle, uint8_t mode, uint8_t nav_mode)
+{
+	mavlink_message_t msg;
+	mavlink_msg_hil_controls_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, time_us, roll_ailerons, pitch_elevator, yaw_rudder, throttle, mode, nav_mode);
+	mavlink_send_uart(chan, &msg);
+}
+
+#endif
+// MESSAGE HIL_CONTROLS UNPACKING
+
+/**
+ * @brief Get field time_us from hil_controls message
+ *
+ * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)
+ */
+static inline uint64_t mavlink_msg_hil_controls_get_time_us(const mavlink_message_t* msg)
+{
+	generic_64bit r;
+	r.b[7] = (msg->payload)[0];
+	r.b[6] = (msg->payload)[1];
+	r.b[5] = (msg->payload)[2];
+	r.b[4] = (msg->payload)[3];
+	r.b[3] = (msg->payload)[4];
+	r.b[2] = (msg->payload)[5];
+	r.b[1] = (msg->payload)[6];
+	r.b[0] = (msg->payload)[7];
+	return (uint64_t)r.ll;
+}
+
+/**
+ * @brief Get field roll_ailerons from hil_controls message
+ *
+ * @return Control output -3 .. 1
+ */
+static inline float mavlink_msg_hil_controls_get_roll_ailerons(const mavlink_message_t* msg)
+{
+	generic_32bit r;
+	r.b[3] = (msg->payload+sizeof(uint64_t))[0];
+	r.b[2] = (msg->payload+sizeof(uint64_t))[1];
+	r.b[1] = (msg->payload+sizeof(uint64_t))[2];
+	r.b[0] = (msg->payload+sizeof(uint64_t))[3];
+	return (float)r.f;
+}
+
+/**
+ * @brief Get field pitch_elevator from hil_controls message
+ *
+ * @return Control output -1 .. 1
+ */
+static inline float mavlink_msg_hil_controls_get_pitch_elevator(const mavlink_message_t* msg)
+{
+	generic_32bit r;
+	r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float))[0];
+	r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float))[1];
+	r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float))[2];
+	r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float))[3];
+	return (float)r.f;
+}
+
+/**
+ * @brief Get field yaw_rudder from hil_controls message
+ *
+ * @return Control output -1 .. 1
+ */
+static inline float mavlink_msg_hil_controls_get_yaw_rudder(const mavlink_message_t* msg)
+{
+	generic_32bit r;
+	r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[0];
+	r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[1];
+	r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[2];
+	r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[3];
+	return (float)r.f;
+}
+
+/**
+ * @brief Get field throttle from hil_controls message
+ *
+ * @return Throttle 0 .. 1
+ */
+static inline float mavlink_msg_hil_controls_get_throttle(const mavlink_message_t* msg)
+{
+	generic_32bit r;
+	r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[0];
+	r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[1];
+	r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[2];
+	r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[3];
+	return (float)r.f;
+}
+
+/**
+ * @brief Get field mode from hil_controls message
+ *
+ * @return System mode (MAV_MODE)
+ */
+static inline uint8_t mavlink_msg_hil_controls_get_mode(const mavlink_message_t* msg)
+{
+	return (uint8_t)(msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
+}
+
+/**
+ * @brief Get field nav_mode from hil_controls message
+ *
+ * @return Navigation mode (MAV_NAV_MODE)
+ */
+static inline uint8_t mavlink_msg_hil_controls_get_nav_mode(const mavlink_message_t* msg)
+{
+	return (uint8_t)(msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t))[0];
+}
+
+/**
+ * @brief Decode a hil_controls message into a struct
+ *
+ * @param msg The message to decode
+ * @param hil_controls C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_hil_controls_decode(const mavlink_message_t* msg, mavlink_hil_controls_t* hil_controls)
+{
+	hil_controls->time_us = mavlink_msg_hil_controls_get_time_us(msg);
+	hil_controls->roll_ailerons = mavlink_msg_hil_controls_get_roll_ailerons(msg);
+	hil_controls->pitch_elevator = mavlink_msg_hil_controls_get_pitch_elevator(msg);
+	hil_controls->yaw_rudder = mavlink_msg_hil_controls_get_yaw_rudder(msg);
+	hil_controls->throttle = mavlink_msg_hil_controls_get_throttle(msg);
+	hil_controls->mode = mavlink_msg_hil_controls_get_mode(msg);
+	hil_controls->nav_mode = mavlink_msg_hil_controls_get_nav_mode(msg);
+}