mavlink_msg_nav_controller_output.h

00001 // MESSAGE NAV_CONTROLLER_OUTPUT PACKING
00002 
00003 #define MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT 62
00004 
00005 typedef struct __mavlink_nav_controller_output_t 
00006 {
00007     float nav_roll; ///< Current desired roll in degrees
00008     float nav_pitch; ///< Current desired pitch in degrees
00009     int16_t nav_bearing; ///< Current desired heading in degrees
00010     int16_t target_bearing; ///< Bearing to current waypoint/target in degrees
00011     uint16_t wp_dist; ///< Distance to active waypoint in meters
00012     float alt_error; ///< Current altitude error in meters
00013     float aspd_error; ///< Current airspeed error in meters/second
00014     float xtrack_error; ///< Current crosstrack error on x-y plane in meters
00015 
00016 } mavlink_nav_controller_output_t;
00017 
00018 
00019 
00020 /**
00021  * @brief Pack a nav_controller_output message
00022  * @param system_id ID of this system
00023  * @param component_id ID of this component (e.g. 200 for IMU)
00024  * @param msg The MAVLink message to compress the data into
00025  *
00026  * @param nav_roll Current desired roll in degrees
00027  * @param nav_pitch Current desired pitch in degrees
00028  * @param nav_bearing Current desired heading in degrees
00029  * @param target_bearing Bearing to current waypoint/target in degrees
00030  * @param wp_dist Distance to active waypoint in meters
00031  * @param alt_error Current altitude error in meters
00032  * @param aspd_error Current airspeed error in meters/second
00033  * @param xtrack_error Current crosstrack error on x-y plane in meters
00034  * @return length of the message in bytes (excluding serial stream start sign)
00035  */
00036 static inline uint16_t mavlink_msg_nav_controller_output_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, float nav_roll, float nav_pitch, int16_t nav_bearing, int16_t target_bearing, uint16_t wp_dist, float alt_error, float aspd_error, float xtrack_error)
00037 {
00038     uint16_t i = 0;
00039     msg->msgid = MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT;
00040 
00041     i += put_float_by_index(nav_roll, i, msg->payload); // Current desired roll in degrees
00042     i += put_float_by_index(nav_pitch, i, msg->payload); // Current desired pitch in degrees
00043     i += put_int16_t_by_index(nav_bearing, i, msg->payload); // Current desired heading in degrees
00044     i += put_int16_t_by_index(target_bearing, i, msg->payload); // Bearing to current waypoint/target in degrees
00045     i += put_uint16_t_by_index(wp_dist, i, msg->payload); // Distance to active waypoint in meters
00046     i += put_float_by_index(alt_error, i, msg->payload); // Current altitude error in meters
00047     i += put_float_by_index(aspd_error, i, msg->payload); // Current airspeed error in meters/second
00048     i += put_float_by_index(xtrack_error, i, msg->payload); // Current crosstrack error on x-y plane in meters
00049 
00050     return mavlink_finalize_message(msg, system_id, component_id, i);
00051 }
00052 
00053 /**
00054  * @brief Pack a nav_controller_output message
00055  * @param system_id ID of this system
00056  * @param component_id ID of this component (e.g. 200 for IMU)
00057  * @param chan The MAVLink channel this message was sent over
00058  * @param msg The MAVLink message to compress the data into
00059  * @param nav_roll Current desired roll in degrees
00060  * @param nav_pitch Current desired pitch in degrees
00061  * @param nav_bearing Current desired heading in degrees
00062  * @param target_bearing Bearing to current waypoint/target in degrees
00063  * @param wp_dist Distance to active waypoint in meters
00064  * @param alt_error Current altitude error in meters
00065  * @param aspd_error Current airspeed error in meters/second
00066  * @param xtrack_error Current crosstrack error on x-y plane in meters
00067  * @return length of the message in bytes (excluding serial stream start sign)
00068  */
00069 static inline uint16_t mavlink_msg_nav_controller_output_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, float nav_roll, float nav_pitch, int16_t nav_bearing, int16_t target_bearing, uint16_t wp_dist, float alt_error, float aspd_error, float xtrack_error)
00070 {
00071     uint16_t i = 0;
00072     msg->msgid = MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT;
00073 
00074     i += put_float_by_index(nav_roll, i, msg->payload); // Current desired roll in degrees
00075     i += put_float_by_index(nav_pitch, i, msg->payload); // Current desired pitch in degrees
00076     i += put_int16_t_by_index(nav_bearing, i, msg->payload); // Current desired heading in degrees
00077     i += put_int16_t_by_index(target_bearing, i, msg->payload); // Bearing to current waypoint/target in degrees
00078     i += put_uint16_t_by_index(wp_dist, i, msg->payload); // Distance to active waypoint in meters
00079     i += put_float_by_index(alt_error, i, msg->payload); // Current altitude error in meters
00080     i += put_float_by_index(aspd_error, i, msg->payload); // Current airspeed error in meters/second
00081     i += put_float_by_index(xtrack_error, i, msg->payload); // Current crosstrack error on x-y plane in meters
00082 
00083     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
00084 }
00085 
00086 /**
00087  * @brief Encode a nav_controller_output struct into a message
00088  *
00089  * @param system_id ID of this system
00090  * @param component_id ID of this component (e.g. 200 for IMU)
00091  * @param msg The MAVLink message to compress the data into
00092  * @param nav_controller_output C-struct to read the message contents from
00093  */
00094 static inline uint16_t mavlink_msg_nav_controller_output_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_nav_controller_output_t* nav_controller_output)
00095 {
00096     return mavlink_msg_nav_controller_output_pack(system_id, component_id, msg, nav_controller_output->nav_roll, nav_controller_output->nav_pitch, nav_controller_output->nav_bearing, nav_controller_output->target_bearing, nav_controller_output->wp_dist, nav_controller_output->alt_error, nav_controller_output->aspd_error, nav_controller_output->xtrack_error);
00097 }
00098 
00099 /**
00100  * @brief Send a nav_controller_output message
00101  * @param chan MAVLink channel to send the message
00102  *
00103  * @param nav_roll Current desired roll in degrees
00104  * @param nav_pitch Current desired pitch in degrees
00105  * @param nav_bearing Current desired heading in degrees
00106  * @param target_bearing Bearing to current waypoint/target in degrees
00107  * @param wp_dist Distance to active waypoint in meters
00108  * @param alt_error Current altitude error in meters
00109  * @param aspd_error Current airspeed error in meters/second
00110  * @param xtrack_error Current crosstrack error on x-y plane in meters
00111  */
00112 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
00113 
00114 static inline void mavlink_msg_nav_controller_output_send(mavlink_channel_t chan, float nav_roll, float nav_pitch, int16_t nav_bearing, int16_t target_bearing, uint16_t wp_dist, float alt_error, float aspd_error, float xtrack_error)
00115 {
00116     mavlink_message_t msg;
00117     mavlink_msg_nav_controller_output_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, nav_roll, nav_pitch, nav_bearing, target_bearing, wp_dist, alt_error, aspd_error, xtrack_error);
00118     mavlink_send_uart(chan, &msg);
00119 }
00120 
00121 #endif
00122 // MESSAGE NAV_CONTROLLER_OUTPUT UNPACKING
00123 
00124 /**
00125  * @brief Get field nav_roll from nav_controller_output message
00126  *
00127  * @return Current desired roll in degrees
00128  */
00129 static inline float mavlink_msg_nav_controller_output_get_nav_roll(const mavlink_message_t* msg)
00130 {
00131     generic_32bit r;
00132     r.b[3] = (msg->payload)[0];
00133     r.b[2] = (msg->payload)[1];
00134     r.b[1] = (msg->payload)[2];
00135     r.b[0] = (msg->payload)[3];
00136     return (float)r.f;
00137 }
00138 
00139 /**
00140  * @brief Get field nav_pitch from nav_controller_output message
00141  *
00142  * @return Current desired pitch in degrees
00143  */
00144 static inline float mavlink_msg_nav_controller_output_get_nav_pitch(const mavlink_message_t* msg)
00145 {
00146     generic_32bit r;
00147     r.b[3] = (msg->payload+sizeof(float))[0];
00148     r.b[2] = (msg->payload+sizeof(float))[1];
00149     r.b[1] = (msg->payload+sizeof(float))[2];
00150     r.b[0] = (msg->payload+sizeof(float))[3];
00151     return (float)r.f;
00152 }
00153 
00154 /**
00155  * @brief Get field nav_bearing from nav_controller_output message
00156  *
00157  * @return Current desired heading in degrees
00158  */
00159 static inline int16_t mavlink_msg_nav_controller_output_get_nav_bearing(const mavlink_message_t* msg)
00160 {
00161     generic_16bit r;
00162     r.b[1] = (msg->payload+sizeof(float)+sizeof(float))[0];
00163     r.b[0] = (msg->payload+sizeof(float)+sizeof(float))[1];
00164     return (int16_t)r.s;
00165 }
00166 
00167 /**
00168  * @brief Get field target_bearing from nav_controller_output message
00169  *
00170  * @return Bearing to current waypoint/target in degrees
00171  */
00172 static inline int16_t mavlink_msg_nav_controller_output_get_target_bearing(const mavlink_message_t* msg)
00173 {
00174     generic_16bit r;
00175     r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t))[0];
00176     r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t))[1];
00177     return (int16_t)r.s;
00178 }
00179 
00180 /**
00181  * @brief Get field wp_dist from nav_controller_output message
00182  *
00183  * @return Distance to active waypoint in meters
00184  */
00185 static inline uint16_t mavlink_msg_nav_controller_output_get_wp_dist(const mavlink_message_t* msg)
00186 {
00187     generic_16bit r;
00188     r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t))[0];
00189     r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t))[1];
00190     return (uint16_t)r.s;
00191 }
00192 
00193 /**
00194  * @brief Get field alt_error from nav_controller_output message
00195  *
00196  * @return Current altitude error in meters
00197  */
00198 static inline float mavlink_msg_nav_controller_output_get_alt_error(const mavlink_message_t* msg)
00199 {
00200     generic_32bit r;
00201     r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t))[0];
00202     r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t))[1];
00203     r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t))[2];
00204     r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t))[3];
00205     return (float)r.f;
00206 }
00207 
00208 /**
00209  * @brief Get field aspd_error from nav_controller_output message
00210  *
00211  * @return Current airspeed error in meters/second
00212  */
00213 static inline float mavlink_msg_nav_controller_output_get_aspd_error(const mavlink_message_t* msg)
00214 {
00215     generic_32bit r;
00216     r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(float))[0];
00217     r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(float))[1];
00218     r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(float))[2];
00219     r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(float))[3];
00220     return (float)r.f;
00221 }
00222 
00223 /**
00224  * @brief Get field xtrack_error from nav_controller_output message
00225  *
00226  * @return Current crosstrack error on x-y plane in meters
00227  */
00228 static inline float mavlink_msg_nav_controller_output_get_xtrack_error(const mavlink_message_t* msg)
00229 {
00230     generic_32bit r;
00231     r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(float)+sizeof(float))[0];
00232     r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(float)+sizeof(float))[1];
00233     r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(float)+sizeof(float))[2];
00234     r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(float)+sizeof(float))[3];
00235     return (float)r.f;
00236 }
00237 
00238 /**
00239  * @brief Decode a nav_controller_output message into a struct
00240  *
00241  * @param msg The message to decode
00242  * @param nav_controller_output C-struct to decode the message contents into
00243  */
00244 static inline void mavlink_msg_nav_controller_output_decode(const mavlink_message_t* msg, mavlink_nav_controller_output_t* nav_controller_output)
00245 {
00246     nav_controller_output->nav_roll = mavlink_msg_nav_controller_output_get_nav_roll(msg);
00247     nav_controller_output->nav_pitch = mavlink_msg_nav_controller_output_get_nav_pitch(msg);
00248     nav_controller_output->nav_bearing = mavlink_msg_nav_controller_output_get_nav_bearing(msg);
00249     nav_controller_output->target_bearing = mavlink_msg_nav_controller_output_get_target_bearing(msg);
00250     nav_controller_output->wp_dist = mavlink_msg_nav_controller_output_get_wp_dist(msg);
00251     nav_controller_output->alt_error = mavlink_msg_nav_controller_output_get_alt_error(msg);
00252     nav_controller_output->aspd_error = mavlink_msg_nav_controller_output_get_aspd_error(msg);
00253     nav_controller_output->xtrack_error = mavlink_msg_nav_controller_output_get_xtrack_error(msg);
00254 }