mavlink_msg_position_control_setpoint.h

00001 // MESSAGE POSITION_CONTROL_SETPOINT PACKING
00002 
00003 #define MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT 121
00004 
00005 typedef struct __mavlink_position_control_setpoint_t 
00006 {
00007     uint16_t id; ///< ID of waypoint, 0 for plain position
00008     float x; ///< x position
00009     float y; ///< y position
00010     float z; ///< z position
00011     float yaw; ///< yaw orientation in radians, 0 = NORTH
00012 
00013 } mavlink_position_control_setpoint_t;
00014 
00015 
00016 
00017 /**
00018  * @brief Pack a position_control_setpoint message
00019  * @param system_id ID of this system
00020  * @param component_id ID of this component (e.g. 200 for IMU)
00021  * @param msg The MAVLink message to compress the data into
00022  *
00023  * @param id ID of waypoint, 0 for plain position
00024  * @param x x position
00025  * @param y y position
00026  * @param z z position
00027  * @param yaw yaw orientation in radians, 0 = NORTH
00028  * @return length of the message in bytes (excluding serial stream start sign)
00029  */
00030 static inline uint16_t mavlink_msg_position_control_setpoint_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint16_t id, float x, float y, float z, float yaw)
00031 {
00032     uint16_t i = 0;
00033     msg->msgid = MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT;
00034 
00035     i += put_uint16_t_by_index(id, i, msg->payload); // ID of waypoint, 0 for plain position
00036     i += put_float_by_index(x, i, msg->payload); // x position
00037     i += put_float_by_index(y, i, msg->payload); // y position
00038     i += put_float_by_index(z, i, msg->payload); // z position
00039     i += put_float_by_index(yaw, i, msg->payload); // yaw orientation in radians, 0 = NORTH
00040 
00041     return mavlink_finalize_message(msg, system_id, component_id, i);
00042 }
00043 
00044 /**
00045  * @brief Pack a position_control_setpoint message
00046  * @param system_id ID of this system
00047  * @param component_id ID of this component (e.g. 200 for IMU)
00048  * @param chan The MAVLink channel this message was sent over
00049  * @param msg The MAVLink message to compress the data into
00050  * @param id ID of waypoint, 0 for plain position
00051  * @param x x position
00052  * @param y y position
00053  * @param z z position
00054  * @param yaw yaw orientation in radians, 0 = NORTH
00055  * @return length of the message in bytes (excluding serial stream start sign)
00056  */
00057 static inline uint16_t mavlink_msg_position_control_setpoint_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint16_t id, float x, float y, float z, float yaw)
00058 {
00059     uint16_t i = 0;
00060     msg->msgid = MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT;
00061 
00062     i += put_uint16_t_by_index(id, i, msg->payload); // ID of waypoint, 0 for plain position
00063     i += put_float_by_index(x, i, msg->payload); // x position
00064     i += put_float_by_index(y, i, msg->payload); // y position
00065     i += put_float_by_index(z, i, msg->payload); // z position
00066     i += put_float_by_index(yaw, i, msg->payload); // yaw orientation in radians, 0 = NORTH
00067 
00068     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
00069 }
00070 
00071 /**
00072  * @brief Encode a position_control_setpoint struct into a message
00073  *
00074  * @param system_id ID of this system
00075  * @param component_id ID of this component (e.g. 200 for IMU)
00076  * @param msg The MAVLink message to compress the data into
00077  * @param position_control_setpoint C-struct to read the message contents from
00078  */
00079 static inline uint16_t mavlink_msg_position_control_setpoint_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_position_control_setpoint_t* position_control_setpoint)
00080 {
00081     return mavlink_msg_position_control_setpoint_pack(system_id, component_id, msg, position_control_setpoint->id, position_control_setpoint->x, position_control_setpoint->y, position_control_setpoint->z, position_control_setpoint->yaw);
00082 }
00083 
00084 /**
00085  * @brief Send a position_control_setpoint message
00086  * @param chan MAVLink channel to send the message
00087  *
00088  * @param id ID of waypoint, 0 for plain position
00089  * @param x x position
00090  * @param y y position
00091  * @param z z position
00092  * @param yaw yaw orientation in radians, 0 = NORTH
00093  */
00094 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
00095 
00096 static inline void mavlink_msg_position_control_setpoint_send(mavlink_channel_t chan, uint16_t id, float x, float y, float z, float yaw)
00097 {
00098     mavlink_message_t msg;
00099     mavlink_msg_position_control_setpoint_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, id, x, y, z, yaw);
00100     mavlink_send_uart(chan, &msg);
00101 }
00102 
00103 #endif
00104 // MESSAGE POSITION_CONTROL_SETPOINT UNPACKING
00105 
00106 /**
00107  * @brief Get field id from position_control_setpoint message
00108  *
00109  * @return ID of waypoint, 0 for plain position
00110  */
00111 static inline uint16_t mavlink_msg_position_control_setpoint_get_id(const mavlink_message_t* msg)
00112 {
00113     generic_16bit r;
00114     r.b[1] = (msg->payload)[0];
00115     r.b[0] = (msg->payload)[1];
00116     return (uint16_t)r.s;
00117 }
00118 
00119 /**
00120  * @brief Get field x from position_control_setpoint message
00121  *
00122  * @return x position
00123  */
00124 static inline float mavlink_msg_position_control_setpoint_get_x(const mavlink_message_t* msg)
00125 {
00126     generic_32bit r;
00127     r.b[3] = (msg->payload+sizeof(uint16_t))[0];
00128     r.b[2] = (msg->payload+sizeof(uint16_t))[1];
00129     r.b[1] = (msg->payload+sizeof(uint16_t))[2];
00130     r.b[0] = (msg->payload+sizeof(uint16_t))[3];
00131     return (float)r.f;
00132 }
00133 
00134 /**
00135  * @brief Get field y from position_control_setpoint message
00136  *
00137  * @return y position
00138  */
00139 static inline float mavlink_msg_position_control_setpoint_get_y(const mavlink_message_t* msg)
00140 {
00141     generic_32bit r;
00142     r.b[3] = (msg->payload+sizeof(uint16_t)+sizeof(float))[0];
00143     r.b[2] = (msg->payload+sizeof(uint16_t)+sizeof(float))[1];
00144     r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(float))[2];
00145     r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(float))[3];
00146     return (float)r.f;
00147 }
00148 
00149 /**
00150  * @brief Get field z from position_control_setpoint message
00151  *
00152  * @return z position
00153  */
00154 static inline float mavlink_msg_position_control_setpoint_get_z(const mavlink_message_t* msg)
00155 {
00156     generic_32bit r;
00157     r.b[3] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float))[0];
00158     r.b[2] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float))[1];
00159     r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float))[2];
00160     r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float))[3];
00161     return (float)r.f;
00162 }
00163 
00164 /**
00165  * @brief Get field yaw from position_control_setpoint message
00166  *
00167  * @return yaw orientation in radians, 0 = NORTH
00168  */
00169 static inline float mavlink_msg_position_control_setpoint_get_yaw(const mavlink_message_t* msg)
00170 {
00171     generic_32bit r;
00172     r.b[3] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float))[0];
00173     r.b[2] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float))[1];
00174     r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float))[2];
00175     r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float))[3];
00176     return (float)r.f;
00177 }
00178 
00179 /**
00180  * @brief Decode a position_control_setpoint message into a struct
00181  *
00182  * @param msg The message to decode
00183  * @param position_control_setpoint C-struct to decode the message contents into
00184  */
00185 static inline void mavlink_msg_position_control_setpoint_decode(const mavlink_message_t* msg, mavlink_position_control_setpoint_t* position_control_setpoint)
00186 {
00187     position_control_setpoint->id = mavlink_msg_position_control_setpoint_get_id(msg);
00188     position_control_setpoint->x = mavlink_msg_position_control_setpoint_get_x(msg);
00189     position_control_setpoint->y = mavlink_msg_position_control_setpoint_get_y(msg);
00190     position_control_setpoint->z = mavlink_msg_position_control_setpoint_get_z(msg);
00191     position_control_setpoint->yaw = mavlink_msg_position_control_setpoint_get_yaw(msg);
00192 }