mavlink_msg_rc_channels_raw.h

00001 // MESSAGE RC_CHANNELS_RAW PACKING
00002 
00003 #define MAVLINK_MSG_ID_RC_CHANNELS_RAW 35
00004 
00005 typedef struct __mavlink_rc_channels_raw_t 
00006 {
00007     uint16_t chan1_raw; ///< RC channel 1 value, in microseconds
00008     uint16_t chan2_raw; ///< RC channel 2 value, in microseconds
00009     uint16_t chan3_raw; ///< RC channel 3 value, in microseconds
00010     uint16_t chan4_raw; ///< RC channel 4 value, in microseconds
00011     uint16_t chan5_raw; ///< RC channel 5 value, in microseconds
00012     uint16_t chan6_raw; ///< RC channel 6 value, in microseconds
00013     uint16_t chan7_raw; ///< RC channel 7 value, in microseconds
00014     uint16_t chan8_raw; ///< RC channel 8 value, in microseconds
00015     uint8_t rssi; ///< Receive signal strength indicator, 0: 0%, 255: 100%
00016 
00017 } mavlink_rc_channels_raw_t;
00018 
00019 
00020 
00021 /**
00022  * @brief Pack a rc_channels_raw message
00023  * @param system_id ID of this system
00024  * @param component_id ID of this component (e.g. 200 for IMU)
00025  * @param msg The MAVLink message to compress the data into
00026  *
00027  * @param chan1_raw RC channel 1 value, in microseconds
00028  * @param chan2_raw RC channel 2 value, in microseconds
00029  * @param chan3_raw RC channel 3 value, in microseconds
00030  * @param chan4_raw RC channel 4 value, in microseconds
00031  * @param chan5_raw RC channel 5 value, in microseconds
00032  * @param chan6_raw RC channel 6 value, in microseconds
00033  * @param chan7_raw RC channel 7 value, in microseconds
00034  * @param chan8_raw RC channel 8 value, in microseconds
00035  * @param rssi Receive signal strength indicator, 0: 0%, 255: 100%
00036  * @return length of the message in bytes (excluding serial stream start sign)
00037  */
00038 static inline uint16_t mavlink_msg_rc_channels_raw_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint16_t chan1_raw, uint16_t chan2_raw, uint16_t chan3_raw, uint16_t chan4_raw, uint16_t chan5_raw, uint16_t chan6_raw, uint16_t chan7_raw, uint16_t chan8_raw, uint8_t rssi)
00039 {
00040     uint16_t i = 0;
00041     msg->msgid = MAVLINK_MSG_ID_RC_CHANNELS_RAW;
00042 
00043     i += put_uint16_t_by_index(chan1_raw, i, msg->payload); // RC channel 1 value, in microseconds
00044     i += put_uint16_t_by_index(chan2_raw, i, msg->payload); // RC channel 2 value, in microseconds
00045     i += put_uint16_t_by_index(chan3_raw, i, msg->payload); // RC channel 3 value, in microseconds
00046     i += put_uint16_t_by_index(chan4_raw, i, msg->payload); // RC channel 4 value, in microseconds
00047     i += put_uint16_t_by_index(chan5_raw, i, msg->payload); // RC channel 5 value, in microseconds
00048     i += put_uint16_t_by_index(chan6_raw, i, msg->payload); // RC channel 6 value, in microseconds
00049     i += put_uint16_t_by_index(chan7_raw, i, msg->payload); // RC channel 7 value, in microseconds
00050     i += put_uint16_t_by_index(chan8_raw, i, msg->payload); // RC channel 8 value, in microseconds
00051     i += put_uint8_t_by_index(rssi, i, msg->payload); // Receive signal strength indicator, 0: 0%, 255: 100%
00052 
00053     return mavlink_finalize_message(msg, system_id, component_id, i);
00054 }
00055 
00056 /**
00057  * @brief Pack a rc_channels_raw message
00058  * @param system_id ID of this system
00059  * @param component_id ID of this component (e.g. 200 for IMU)
00060  * @param chan The MAVLink channel this message was sent over
00061  * @param msg The MAVLink message to compress the data into
00062  * @param chan1_raw RC channel 1 value, in microseconds
00063  * @param chan2_raw RC channel 2 value, in microseconds
00064  * @param chan3_raw RC channel 3 value, in microseconds
00065  * @param chan4_raw RC channel 4 value, in microseconds
00066  * @param chan5_raw RC channel 5 value, in microseconds
00067  * @param chan6_raw RC channel 6 value, in microseconds
00068  * @param chan7_raw RC channel 7 value, in microseconds
00069  * @param chan8_raw RC channel 8 value, in microseconds
00070  * @param rssi Receive signal strength indicator, 0: 0%, 255: 100%
00071  * @return length of the message in bytes (excluding serial stream start sign)
00072  */
00073 static inline uint16_t mavlink_msg_rc_channels_raw_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint16_t chan1_raw, uint16_t chan2_raw, uint16_t chan3_raw, uint16_t chan4_raw, uint16_t chan5_raw, uint16_t chan6_raw, uint16_t chan7_raw, uint16_t chan8_raw, uint8_t rssi)
00074 {
00075     uint16_t i = 0;
00076     msg->msgid = MAVLINK_MSG_ID_RC_CHANNELS_RAW;
00077 
00078     i += put_uint16_t_by_index(chan1_raw, i, msg->payload); // RC channel 1 value, in microseconds
00079     i += put_uint16_t_by_index(chan2_raw, i, msg->payload); // RC channel 2 value, in microseconds
00080     i += put_uint16_t_by_index(chan3_raw, i, msg->payload); // RC channel 3 value, in microseconds
00081     i += put_uint16_t_by_index(chan4_raw, i, msg->payload); // RC channel 4 value, in microseconds
00082     i += put_uint16_t_by_index(chan5_raw, i, msg->payload); // RC channel 5 value, in microseconds
00083     i += put_uint16_t_by_index(chan6_raw, i, msg->payload); // RC channel 6 value, in microseconds
00084     i += put_uint16_t_by_index(chan7_raw, i, msg->payload); // RC channel 7 value, in microseconds
00085     i += put_uint16_t_by_index(chan8_raw, i, msg->payload); // RC channel 8 value, in microseconds
00086     i += put_uint8_t_by_index(rssi, i, msg->payload); // Receive signal strength indicator, 0: 0%, 255: 100%
00087 
00088     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
00089 }
00090 
00091 /**
00092  * @brief Encode a rc_channels_raw struct into a message
00093  *
00094  * @param system_id ID of this system
00095  * @param component_id ID of this component (e.g. 200 for IMU)
00096  * @param msg The MAVLink message to compress the data into
00097  * @param rc_channels_raw C-struct to read the message contents from
00098  */
00099 static inline uint16_t mavlink_msg_rc_channels_raw_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_rc_channels_raw_t* rc_channels_raw)
00100 {
00101     return mavlink_msg_rc_channels_raw_pack(system_id, component_id, msg, rc_channels_raw->chan1_raw, rc_channels_raw->chan2_raw, rc_channels_raw->chan3_raw, rc_channels_raw->chan4_raw, rc_channels_raw->chan5_raw, rc_channels_raw->chan6_raw, rc_channels_raw->chan7_raw, rc_channels_raw->chan8_raw, rc_channels_raw->rssi);
00102 }
00103 
00104 /**
00105  * @brief Send a rc_channels_raw message
00106  * @param chan MAVLink channel to send the message
00107  *
00108  * @param chan1_raw RC channel 1 value, in microseconds
00109  * @param chan2_raw RC channel 2 value, in microseconds
00110  * @param chan3_raw RC channel 3 value, in microseconds
00111  * @param chan4_raw RC channel 4 value, in microseconds
00112  * @param chan5_raw RC channel 5 value, in microseconds
00113  * @param chan6_raw RC channel 6 value, in microseconds
00114  * @param chan7_raw RC channel 7 value, in microseconds
00115  * @param chan8_raw RC channel 8 value, in microseconds
00116  * @param rssi Receive signal strength indicator, 0: 0%, 255: 100%
00117  */
00118 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
00119 
00120 static inline void mavlink_msg_rc_channels_raw_send(mavlink_channel_t chan, uint16_t chan1_raw, uint16_t chan2_raw, uint16_t chan3_raw, uint16_t chan4_raw, uint16_t chan5_raw, uint16_t chan6_raw, uint16_t chan7_raw, uint16_t chan8_raw, uint8_t rssi)
00121 {
00122     mavlink_message_t msg;
00123     mavlink_msg_rc_channels_raw_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw, rssi);
00124     mavlink_send_uart(chan, &msg);
00125 }
00126 
00127 #endif
00128 // MESSAGE RC_CHANNELS_RAW UNPACKING
00129 
00130 /**
00131  * @brief Get field chan1_raw from rc_channels_raw message
00132  *
00133  * @return RC channel 1 value, in microseconds
00134  */
00135 static inline uint16_t mavlink_msg_rc_channels_raw_get_chan1_raw(const mavlink_message_t* msg)
00136 {
00137     generic_16bit r;
00138     r.b[1] = (msg->payload)[0];
00139     r.b[0] = (msg->payload)[1];
00140     return (uint16_t)r.s;
00141 }
00142 
00143 /**
00144  * @brief Get field chan2_raw from rc_channels_raw message
00145  *
00146  * @return RC channel 2 value, in microseconds
00147  */
00148 static inline uint16_t mavlink_msg_rc_channels_raw_get_chan2_raw(const mavlink_message_t* msg)
00149 {
00150     generic_16bit r;
00151     r.b[1] = (msg->payload+sizeof(uint16_t))[0];
00152     r.b[0] = (msg->payload+sizeof(uint16_t))[1];
00153     return (uint16_t)r.s;
00154 }
00155 
00156 /**
00157  * @brief Get field chan3_raw from rc_channels_raw message
00158  *
00159  * @return RC channel 3 value, in microseconds
00160  */
00161 static inline uint16_t mavlink_msg_rc_channels_raw_get_chan3_raw(const mavlink_message_t* msg)
00162 {
00163     generic_16bit r;
00164     r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t))[0];
00165     r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t))[1];
00166     return (uint16_t)r.s;
00167 }
00168 
00169 /**
00170  * @brief Get field chan4_raw from rc_channels_raw message
00171  *
00172  * @return RC channel 4 value, in microseconds
00173  */
00174 static inline uint16_t mavlink_msg_rc_channels_raw_get_chan4_raw(const mavlink_message_t* msg)
00175 {
00176     generic_16bit r;
00177     r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0];
00178     r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1];
00179     return (uint16_t)r.s;
00180 }
00181 
00182 /**
00183  * @brief Get field chan5_raw from rc_channels_raw message
00184  *
00185  * @return RC channel 5 value, in microseconds
00186  */
00187 static inline uint16_t mavlink_msg_rc_channels_raw_get_chan5_raw(const mavlink_message_t* msg)
00188 {
00189     generic_16bit r;
00190     r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0];
00191     r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1];
00192     return (uint16_t)r.s;
00193 }
00194 
00195 /**
00196  * @brief Get field chan6_raw from rc_channels_raw message
00197  *
00198  * @return RC channel 6 value, in microseconds
00199  */
00200 static inline uint16_t mavlink_msg_rc_channels_raw_get_chan6_raw(const mavlink_message_t* msg)
00201 {
00202     generic_16bit r;
00203     r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0];
00204     r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1];
00205     return (uint16_t)r.s;
00206 }
00207 
00208 /**
00209  * @brief Get field chan7_raw from rc_channels_raw message
00210  *
00211  * @return RC channel 7 value, in microseconds
00212  */
00213 static inline uint16_t mavlink_msg_rc_channels_raw_get_chan7_raw(const mavlink_message_t* msg)
00214 {
00215     generic_16bit r;
00216     r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0];
00217     r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1];
00218     return (uint16_t)r.s;
00219 }
00220 
00221 /**
00222  * @brief Get field chan8_raw from rc_channels_raw message
00223  *
00224  * @return RC channel 8 value, in microseconds
00225  */
00226 static inline uint16_t mavlink_msg_rc_channels_raw_get_chan8_raw(const mavlink_message_t* msg)
00227 {
00228     generic_16bit r;
00229     r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0];
00230     r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1];
00231     return (uint16_t)r.s;
00232 }
00233 
00234 /**
00235  * @brief Get field rssi from rc_channels_raw message
00236  *
00237  * @return Receive signal strength indicator, 0: 0%, 255: 100%
00238  */
00239 static inline uint8_t mavlink_msg_rc_channels_raw_get_rssi(const mavlink_message_t* msg)
00240 {
00241     return (uint8_t)(msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0];
00242 }
00243 
00244 /**
00245  * @brief Decode a rc_channels_raw message into a struct
00246  *
00247  * @param msg The message to decode
00248  * @param rc_channels_raw C-struct to decode the message contents into
00249  */
00250 static inline void mavlink_msg_rc_channels_raw_decode(const mavlink_message_t* msg, mavlink_rc_channels_raw_t* rc_channels_raw)
00251 {
00252     rc_channels_raw->chan1_raw = mavlink_msg_rc_channels_raw_get_chan1_raw(msg);
00253     rc_channels_raw->chan2_raw = mavlink_msg_rc_channels_raw_get_chan2_raw(msg);
00254     rc_channels_raw->chan3_raw = mavlink_msg_rc_channels_raw_get_chan3_raw(msg);
00255     rc_channels_raw->chan4_raw = mavlink_msg_rc_channels_raw_get_chan4_raw(msg);
00256     rc_channels_raw->chan5_raw = mavlink_msg_rc_channels_raw_get_chan5_raw(msg);
00257     rc_channels_raw->chan6_raw = mavlink_msg_rc_channels_raw_get_chan6_raw(msg);
00258     rc_channels_raw->chan7_raw = mavlink_msg_rc_channels_raw_get_chan7_raw(msg);
00259     rc_channels_raw->chan8_raw = mavlink_msg_rc_channels_raw_get_chan8_raw(msg);
00260     rc_channels_raw->rssi = mavlink_msg_rc_channels_raw_get_rssi(msg);
00261 }