mavlink_msg_vfr_hud.h

00001 // MESSAGE VFR_HUD PACKING
00002 
00003 #define MAVLINK_MSG_ID_VFR_HUD 74
00004 
00005 typedef struct __mavlink_vfr_hud_t 
00006 {
00007     float airspeed; ///< Current airspeed in m/s
00008     float groundspeed; ///< Current ground speed in m/s
00009     int16_t heading; ///< Current heading in degrees, in compass units (0..360, 0=north)
00010     uint16_t throttle; ///< Current throttle setting in integer percent, 0 to 100
00011     float alt; ///< Current altitude (MSL), in meters
00012     float climb; ///< Current climb rate in meters/second
00013 
00014 } mavlink_vfr_hud_t;
00015 
00016 
00017 
00018 /**
00019  * @brief Pack a vfr_hud message
00020  * @param system_id ID of this system
00021  * @param component_id ID of this component (e.g. 200 for IMU)
00022  * @param msg The MAVLink message to compress the data into
00023  *
00024  * @param airspeed Current airspeed in m/s
00025  * @param groundspeed Current ground speed in m/s
00026  * @param heading Current heading in degrees, in compass units (0..360, 0=north)
00027  * @param throttle Current throttle setting in integer percent, 0 to 100
00028  * @param alt Current altitude (MSL), in meters
00029  * @param climb Current climb rate in meters/second
00030  * @return length of the message in bytes (excluding serial stream start sign)
00031  */
00032 static inline uint16_t mavlink_msg_vfr_hud_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, float airspeed, float groundspeed, int16_t heading, uint16_t throttle, float alt, float climb)
00033 {
00034     uint16_t i = 0;
00035     msg->msgid = MAVLINK_MSG_ID_VFR_HUD;
00036 
00037     i += put_float_by_index(airspeed, i, msg->payload); // Current airspeed in m/s
00038     i += put_float_by_index(groundspeed, i, msg->payload); // Current ground speed in m/s
00039     i += put_int16_t_by_index(heading, i, msg->payload); // Current heading in degrees, in compass units (0..360, 0=north)
00040     i += put_uint16_t_by_index(throttle, i, msg->payload); // Current throttle setting in integer percent, 0 to 100
00041     i += put_float_by_index(alt, i, msg->payload); // Current altitude (MSL), in meters
00042     i += put_float_by_index(climb, i, msg->payload); // Current climb rate in meters/second
00043 
00044     return mavlink_finalize_message(msg, system_id, component_id, i);
00045 }
00046 
00047 /**
00048  * @brief Pack a vfr_hud message
00049  * @param system_id ID of this system
00050  * @param component_id ID of this component (e.g. 200 for IMU)
00051  * @param chan The MAVLink channel this message was sent over
00052  * @param msg The MAVLink message to compress the data into
00053  * @param airspeed Current airspeed in m/s
00054  * @param groundspeed Current ground speed in m/s
00055  * @param heading Current heading in degrees, in compass units (0..360, 0=north)
00056  * @param throttle Current throttle setting in integer percent, 0 to 100
00057  * @param alt Current altitude (MSL), in meters
00058  * @param climb Current climb rate in meters/second
00059  * @return length of the message in bytes (excluding serial stream start sign)
00060  */
00061 static inline uint16_t mavlink_msg_vfr_hud_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, float airspeed, float groundspeed, int16_t heading, uint16_t throttle, float alt, float climb)
00062 {
00063     uint16_t i = 0;
00064     msg->msgid = MAVLINK_MSG_ID_VFR_HUD;
00065 
00066     i += put_float_by_index(airspeed, i, msg->payload); // Current airspeed in m/s
00067     i += put_float_by_index(groundspeed, i, msg->payload); // Current ground speed in m/s
00068     i += put_int16_t_by_index(heading, i, msg->payload); // Current heading in degrees, in compass units (0..360, 0=north)
00069     i += put_uint16_t_by_index(throttle, i, msg->payload); // Current throttle setting in integer percent, 0 to 100
00070     i += put_float_by_index(alt, i, msg->payload); // Current altitude (MSL), in meters
00071     i += put_float_by_index(climb, i, msg->payload); // Current climb rate in meters/second
00072 
00073     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
00074 }
00075 
00076 /**
00077  * @brief Encode a vfr_hud struct into a message
00078  *
00079  * @param system_id ID of this system
00080  * @param component_id ID of this component (e.g. 200 for IMU)
00081  * @param msg The MAVLink message to compress the data into
00082  * @param vfr_hud C-struct to read the message contents from
00083  */
00084 static inline uint16_t mavlink_msg_vfr_hud_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_vfr_hud_t* vfr_hud)
00085 {
00086     return mavlink_msg_vfr_hud_pack(system_id, component_id, msg, vfr_hud->airspeed, vfr_hud->groundspeed, vfr_hud->heading, vfr_hud->throttle, vfr_hud->alt, vfr_hud->climb);
00087 }
00088 
00089 /**
00090  * @brief Send a vfr_hud message
00091  * @param chan MAVLink channel to send the message
00092  *
00093  * @param airspeed Current airspeed in m/s
00094  * @param groundspeed Current ground speed in m/s
00095  * @param heading Current heading in degrees, in compass units (0..360, 0=north)
00096  * @param throttle Current throttle setting in integer percent, 0 to 100
00097  * @param alt Current altitude (MSL), in meters
00098  * @param climb Current climb rate in meters/second
00099  */
00100 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
00101 
00102 static inline void mavlink_msg_vfr_hud_send(mavlink_channel_t chan, float airspeed, float groundspeed, int16_t heading, uint16_t throttle, float alt, float climb)
00103 {
00104     mavlink_message_t msg;
00105     mavlink_msg_vfr_hud_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, airspeed, groundspeed, heading, throttle, alt, climb);
00106     mavlink_send_uart(chan, &msg);
00107 }
00108 
00109 #endif
00110 // MESSAGE VFR_HUD UNPACKING
00111 
00112 /**
00113  * @brief Get field airspeed from vfr_hud message
00114  *
00115  * @return Current airspeed in m/s
00116  */
00117 static inline float mavlink_msg_vfr_hud_get_airspeed(const mavlink_message_t* msg)
00118 {
00119     generic_32bit r;
00120     r.b[3] = (msg->payload)[0];
00121     r.b[2] = (msg->payload)[1];
00122     r.b[1] = (msg->payload)[2];
00123     r.b[0] = (msg->payload)[3];
00124     return (float)r.f;
00125 }
00126 
00127 /**
00128  * @brief Get field groundspeed from vfr_hud message
00129  *
00130  * @return Current ground speed in m/s
00131  */
00132 static inline float mavlink_msg_vfr_hud_get_groundspeed(const mavlink_message_t* msg)
00133 {
00134     generic_32bit r;
00135     r.b[3] = (msg->payload+sizeof(float))[0];
00136     r.b[2] = (msg->payload+sizeof(float))[1];
00137     r.b[1] = (msg->payload+sizeof(float))[2];
00138     r.b[0] = (msg->payload+sizeof(float))[3];
00139     return (float)r.f;
00140 }
00141 
00142 /**
00143  * @brief Get field heading from vfr_hud message
00144  *
00145  * @return Current heading in degrees, in compass units (0..360, 0=north)
00146  */
00147 static inline int16_t mavlink_msg_vfr_hud_get_heading(const mavlink_message_t* msg)
00148 {
00149     generic_16bit r;
00150     r.b[1] = (msg->payload+sizeof(float)+sizeof(float))[0];
00151     r.b[0] = (msg->payload+sizeof(float)+sizeof(float))[1];
00152     return (int16_t)r.s;
00153 }
00154 
00155 /**
00156  * @brief Get field throttle from vfr_hud message
00157  *
00158  * @return Current throttle setting in integer percent, 0 to 100
00159  */
00160 static inline uint16_t mavlink_msg_vfr_hud_get_throttle(const mavlink_message_t* msg)
00161 {
00162     generic_16bit r;
00163     r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t))[0];
00164     r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t))[1];
00165     return (uint16_t)r.s;
00166 }
00167 
00168 /**
00169  * @brief Get field alt from vfr_hud message
00170  *
00171  * @return Current altitude (MSL), in meters
00172  */
00173 static inline float mavlink_msg_vfr_hud_get_alt(const mavlink_message_t* msg)
00174 {
00175     generic_32bit r;
00176     r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(uint16_t))[0];
00177     r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(uint16_t))[1];
00178     r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(uint16_t))[2];
00179     r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(uint16_t))[3];
00180     return (float)r.f;
00181 }
00182 
00183 /**
00184  * @brief Get field climb from vfr_hud message
00185  *
00186  * @return Current climb rate in meters/second
00187  */
00188 static inline float mavlink_msg_vfr_hud_get_climb(const mavlink_message_t* msg)
00189 {
00190     generic_32bit r;
00191     r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(float))[0];
00192     r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(float))[1];
00193     r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(float))[2];
00194     r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(float))[3];
00195     return (float)r.f;
00196 }
00197 
00198 /**
00199  * @brief Decode a vfr_hud message into a struct
00200  *
00201  * @param msg The message to decode
00202  * @param vfr_hud C-struct to decode the message contents into
00203  */
00204 static inline void mavlink_msg_vfr_hud_decode(const mavlink_message_t* msg, mavlink_vfr_hud_t* vfr_hud)
00205 {
00206     vfr_hud->airspeed = mavlink_msg_vfr_hud_get_airspeed(msg);
00207     vfr_hud->groundspeed = mavlink_msg_vfr_hud_get_groundspeed(msg);
00208     vfr_hud->heading = mavlink_msg_vfr_hud_get_heading(msg);
00209     vfr_hud->throttle = mavlink_msg_vfr_hud_get_throttle(msg);
00210     vfr_hud->alt = mavlink_msg_vfr_hud_get_alt(msg);
00211     vfr_hud->climb = mavlink_msg_vfr_hud_get_climb(msg);
00212 }