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Commit 012e8345 authored by lm's avatar lm
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Fixed Google Earth bug

parent d4f8f5b3
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images/earth.html
View file @ 012e8345
......@@ -16,6 +16,7 @@ var ge = null;
var initialized = false;
var currAircraft = 0;
var followEnabled = false;
var lineAltitudeOffset = 0.5; ///< 0.5 m higher than waypoint, prevents the line from entering the ground
var lastLat = 0;
var lastLon = 0;
......@@ -211,23 +212,24 @@ google.earth.addEventListener(ge.getGlobe(), 'mousemove', function(event)
{
if (draggingAllowed && (clickMode == 0))
{
if (dragInfo) {
event.preventDefault();
var point = dragInfo.placemark.getGeometry();
point.setLatitude(event.getLatitude());
point.setLongitude(event.getLongitude());
dragInfo.dragged = true;
dragWaypointIndex = dragInfo.placemark.getDescription();
document.getElementById('JScript_dragWaypointIndex').setAttribute('value',dragWaypointIndex);
dragWaypointLatitude = event.getLatitude();
dragWaypointLongitude = event.getLongitude();
dragWaypointAltitude = point.getAltitude();
dragWaypointPending = true;
document.getElementById('JScript_dragWaypointLatitude').setAttribute('value',dragWaypointLatitude);
document.getElementById('JScript_dragWaypointLongitude').setAttribute('value',dragWaypointLongitude);
document.getElementById('JScript_dragWaypointAltitude').setAttribute('value',dragWaypointAltitude);
document.getElementById('JScript_dragWaypointPending').setAttribute('value',true);
}
if (dragInfo)
{
event.preventDefault();
var point = dragInfo.placemark.getGeometry();
point.setLatitude(event.getLatitude());
point.setLongitude(event.getLongitude());
dragInfo.dragged = true;
dragWaypointIndex = dragInfo.placemark.getDescription();
document.getElementById('JScript_dragWaypointIndex').setAttribute('value',dragWaypointIndex);
dragWaypointLatitude = event.getLatitude();
dragWaypointLongitude = event.getLongitude();
dragWaypointAltitude = point.getAltitude();
dragWaypointPending = true;
document.getElementById('JScript_dragWaypointLatitude').setAttribute('value',dragWaypointLatitude);
document.getElementById('JScript_dragWaypointLongitude').setAttribute('value',dragWaypointLongitude);
document.getElementById('JScript_dragWaypointAltitude').setAttribute('value',dragWaypointAltitude);
document.getElementById('JScript_dragWaypointPending').setAttribute('value',true);
}
}
});
......@@ -298,7 +300,7 @@ function setGCSHome(lat, lon, alt)
if (homePlacemark == null)
{
var placemark = ge.createPlacemark('');
var placemark = ge.createPlacemark('');
var icon = ge.createIcon('');
icon.setHref('http://google-maps-icons.googlecode.com/files/blackH.png');
var style = ge.createStyle('');
......@@ -349,6 +351,8 @@ function updateWaypointListLength(id, len)
{
var placemark = waypoints.pop();
ge.getFeatures().removeChild(placemark);
var line = waypointLines[id].pop();
ge.getFeatures().removeChild(line);
}
}
}
......@@ -367,7 +371,8 @@ function updateWaypoint(id, index, lat, lon, alt, action)
waypoints[index].setGeometry(location);
waypoints[index].setDescription(index+"");
// Set the WP line location
waypointLines[id].getCoordinates().setLatLngAlt(index, lat, lon, alt);
}
else
{
......@@ -388,122 +393,108 @@ function updateWaypoint(id, index, lat, lon, alt, action)
var location = ge.createPoint('');
location.setLatitude(lat);
location.setLongitude(lon);
location.setAltitude(alt);
location.setAltitude(alt+lineAltitudeOffset);
placemark.setGeometry(location);
// Add the placemark to Earth.
ge.getFeatures().appendChild(placemark);
waypoints[index] = placemark;
}
// Add waypoint line
waypointLines[id].setExtrude(false);
waypointLines[id].setAltitudeMode(ge.ALTITUDE_ABSOLUTE);
// Add LineString points
waypointLines[id].getCoordinates().pushLatLngAlt(lat, lon, alt);
// Create a style and set width and color of line
waypointLinePlacemarks[id].setStyleSelector(ge.createStyle(''));
lineStyle = waypointLinePlacemarks[id].getStyleSelector().getLineStyle();
lineStyle.setWidth(5);
lineStyle.getColor().set(waypointLineColors[id]);  // aabbggrr format
//lineStyle.getColor().set(color);  // aabbggrr format
// Add the feature to Earth
//if (waypointLinesVisible[id] == true)
ge.getFeatures().replaceChild(waypointLinePlacemarks[id], waypointLinePlacemarks[id]);
// Add connecting line
}
}
function createAircraft(id, type, color)
{
planePlacemark = ge.createPlacemark('');
planePlacemark.setName('aircraft');
planeModel = ge.createModel('');
ge.getFeatures().appendChild(planePlacemark);
planeLoc = ge.createLocation('');
planeModel.setLocation(planeLoc);
planeLink = ge.createLink('');
planeOrient = ge.createOrientation('');
planeModel.setOrientation(planeOrient);
planeLink.setHref('http://qgroundcontrol.org/_media/users/models/multiplex-twinstar.dae');
planeModel.setLink(planeLink);
planeModel.setAltitudeMode (ge.ALTITUDE_ABSOLUTE);
planeLoc.setLatitude(currLat);
planeLoc.setLongitude(currLon);
planeLoc.setAltitude(currAlt);
planePlacemark.setGeometry(planeModel);
planePlacemark = ge.createPlacemark('');
planePlacemark.setName('aircraft');
planeModel = ge.createModel('');
ge.getFeatures().appendChild(planePlacemark);
planeLoc = ge.createLocation('');
planeModel.setLocation(planeLoc);
planeLink = ge.createLink('');
planeOrient = ge.createOrientation('');
planeModel.setOrientation(planeOrient);
planeLink.setHref('http://qgroundcontrol.org/_media/users/models/ascent-park-glider.dae');
planeModel.setLink(planeLink);
planeModel.setAltitudeMode (ge.ALTITUDE_ABSOLUTE);
planeLoc.setLatitude(currLat);
planeLoc.setLongitude(currLon);
planeLoc.setAltitude(currAlt);
planePlacemark.setGeometry(planeModel);
// Write into global structure
aircraft[id] = planePlacemark;
attitudes[id] = planeOrient;
aircraftLocations[id] = planeLoc;
aircraftLastLocations[id] = ge.createLocation('');
//planeColor = color;
// Write into global structure
aircraft[id] = planePlacemark;
attitudes[id] = planeOrient;
aircraftLocations[id] = planeLoc;
aircraftLastLocations[id] = ge.createLocation('');
createTrail(id, color);
createWaypointLine(id, color);
//console.log(color);
createTrail(id, color);
createWaypointLine(id, color);
}
function createTrail(id, color)
{
trailPlacemarks[id] = ge.createPlacemark('');
// Create the placemark
// Create the LineString; set it to extend down to the ground
// and set the altitude mode
trails[id] = ge.createLineString('');
trailPlacemarks[id].setGeometry(trails[id]);
trails[id].setExtrude(false);
trails[id].setAltitudeMode(ge.ALTITUDE_ABSOLUTE);
// Add LineString points
//lineString.getCoordinates().pushLatLngAlt(48.754, -121.835, 700);
// Create a style and set width and color of line
trailPlacemarks[id].setStyleSelector(ge.createStyle(''));
lineStyle = trailPlacemarks[id].getStyleSelector().getLineStyle();
lineStyle.setWidth(5);
trailColors[id] = color;
lineStyle.getColor().set('00000000');  // aabbggrr format
trailsVisible[id] = false;
trailPlacemarks[id] = ge.createPlacemark('');
// Create the placemark
// Create the LineString; set it to extend down to the ground
// and set the altitude mode
trails[id] = ge.createLineString('');
trailPlacemarks[id].setGeometry(trails[id]);
trails[id].setExtrude(false);
trails[id].setAltitudeMode(ge.ALTITUDE_ABSOLUTE);
// Add the feature to Earth
//ge.getFeatures().appendChild(trailPlacemarks[id]);
// Create a style and set width and color of line
trailPlacemarks[id].setStyleSelector(ge.createStyle(''));
lineStyle = trailPlacemarks[id].getStyleSelector().getLineStyle();
lineStyle.setWidth(5);
trailColors[id] = color;
lineStyle.getColor().set('00000000');  // aabbggrr format
trailsVisible[id] = false;
}
function createWaypointLine(id, color)
{
waypointLinePlacemarks[id] = ge.createPlacemark('');
// Create the placemark
// Create the LineString; set it to extend down to the ground
// and set the altitude mode
waypointLines[id] = ge.createLineString('');
waypointLinePlacemarks[id].setGeometry(waypointLines[id]);
waypointLines[id].setExtrude(false);
waypointLines[id].setAltitudeMode(ge.ALTITUDE_ABSOLUTE);
// Add LineString points
//lineString.getCoordinates().pushLatLngAlt(48.754, -121.835, 700);
// Create the placemark
waypointLinePlacemarks[id] = ge.createPlacemark('');
// Create the LineString; set it to extend down to the ground
// and set the altitude mode
waypointLines[id] = ge.createLineString('');
waypointLinePlacemarks[id].setGeometry(waypointLines[id]);
waypointLines[id].setExtrude(false);
waypointLines[id].setAltitudeMode(ge.ALTITUDE_ABSOLUTE);
// Add LineString points
//lineString.getCoordinates().pushLatLngAlt(48.754, -121.835, 700);
// Create a style and set width and color of line
waypointLinePlacemarks[id].setStyleSelector(ge.createStyle(''));
lineStyle = waypointLinePlacemarks[id].getStyleSelector().getLineStyle();
lineStyle.setWidth(15);
waypointLineColors[id] = color;
lineStyle.getColor().set(color);  // aabbggrr format
// Add waypoint line
//waypointLines[id].setExtrude(false);
//waypointLines[id].setAltitudeMode(ge.ALTITUDE_ABSOLUTE);
// Create a style and set width and color of line
waypointLinePlacemarks[id].setStyleSelector(ge.createStyle(''));
lineStyle = waypointLinePlacemarks[id].getStyleSelector().getLineStyle();
lineStyle.setWidth(10);
waypointLineColors[id] = color;
lineStyle.getColor().set('00000000');  // aabbggrr format
// Add the feature to Earth
//ge.getFeatures().appendChild(trailPlacemarks[id]);
// Create a style and set width and color of line
//waypointLinePlacemarks[id].setStyleSelector(ge.createStyle(''));
//lineStyle = waypointLinePlacemarks[id].getStyleSelector().getLineStyle();
//lineStyle.setWidth(15);
//lineStyle.getColor().set(waypointLineColors[id]);  // aabbggrr format
//lineStyle.getColor().set(color);  // aabbggrr format
// Add the feature to Earth
ge.getFeatures().appendChild(waypointLinePlacemarks[id]);
}
function clearTrail(id)
......@@ -537,8 +528,8 @@ function setViewRange(dist)
function addTrailPosition(id, lat, lon, alt)
{
trails[id].setExtrude(false);
trails[id].setAltitudeMode(ge.ALTITUDE_ABSOLUTE);
//trails[id].setExtrude(false);
//trails[id].setAltitudeMode(ge.ALTITUDE_ABSOLUTE);
// Add LineString points
trails[id].getCoordinates().pushLatLngAlt(lat, lon, alt);
......@@ -548,10 +539,6 @@ function addTrailPosition(id, lat, lon, alt)
lineStyle = trailPlacemarks[id].getStyleSelector().getLineStyle();
lineStyle.setWidth(5);
lineStyle.getColor().set(trailColors[id]);  // aabbggrr format
//lineStyle.getColor().set(color);  // aabbggrr format
// Add the feature to Earth
if (trailsVisible[id] == true) ge.getFeatures().replaceChild(trailPlacemarks[id], trailPlacemarks[id]);
}
function initCallback(object)
......@@ -583,6 +570,7 @@ function setAircraftPositionAttitude(id, lat, lon, alt, roll, pitch, yaw)
lastLat = currLat;
lastLon = currLon;
}
currLat = lat;
currLon = lon;
var trueGroundAlt = ge.getGlobe().getGroundAltitude(lat, lon);
......@@ -601,19 +589,19 @@ function setAircraftPositionAttitude(id, lat, lon, alt, roll, pitch, yaw)
//currFollowHeading = ((yaw/M_PI)+1.0)*360.0;
// FIXME Currently invalid conversion from right-handed z-down to z-up frame
planeOrient.setRoll(((roll/M_PI))*180.0+180.0);
planeOrient.setTilt(((pitch/M_PI))*180.0+180.0);
planeOrient.setHeading(((yaw/M_PI))*180.0-90.0);
// FIXME Currently invalid conversion from right-handed z-down to z-up frame
planeOrient.setRoll(((roll/M_PI))*180.0+180.0);
planeOrient.setTilt(((pitch/M_PI))*180.0+180.0);
planeOrient.setHeading(((yaw/M_PI))*180.0-90.0);
currFollowHeading = ((yaw/M_PI))*180.0;
currFollowHeading = ((yaw/M_PI))*180.0;
planeLoc.setLatitude(lastLat);
planeLoc.setLongitude(lastLon);
planeLoc.setAltitude(lastAlt);
planeModel.setLocation(planeLoc);
planeLoc.setLatitude(lastLat);
planeLoc.setLongitude(lastLon);
planeLoc.setAltitude(lastAlt);
planeModel.setLocation(planeLoc);
if (followEnabled) updateFollowAircraft();
if (followEnabled) updateFollowAircraft();
}
}
......@@ -663,6 +651,7 @@ function setViewMode(mode)
currView.setTilt(lastTilt);
currView.setHeading(lastHeading);
}
if (mode == 1 && viewMode != mode)
{
lastTilt = currView.getTilt();
......
thirdParty/mavlink/include/common/mavlink_msg_attitude_controller_output.h deleted 100644 → 0
View file @ d4f8f5b3
// MESSAGE ATTITUDE_CONTROLLER_OUTPUT PACKING
#define MAVLINK_MSG_ID_ATTITUDE_CONTROLLER_OUTPUT 60
typedef struct __mavlink_attitude_controller_output_t
{
uint8_t enabled; ///< 1: enabled, 0: disabled
int8_t roll; ///< Attitude roll: -128: -100%, 127: +100%
int8_t pitch; ///< Attitude pitch: -128: -100%, 127: +100%
int8_t yaw; ///< Attitude yaw: -128: -100%, 127: +100%
int8_t thrust; ///< Attitude thrust: -128: -100%, 127: +100%
} mavlink_attitude_controller_output_t;
/**
* @brief Pack a attitude_controller_output 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 enabled 1: enabled, 0: disabled
* @param roll Attitude roll: -128: -100%, 127: +100%
* @param pitch Attitude pitch: -128: -100%, 127: +100%
* @param yaw Attitude yaw: -128: -100%, 127: +100%
* @param thrust Attitude thrust: -128: -100%, 127: +100%
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_attitude_controller_output_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t enabled, int8_t roll, int8_t pitch, int8_t yaw, int8_t thrust)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_ATTITUDE_CONTROLLER_OUTPUT;
i += put_uint8_t_by_index(enabled, i, msg->payload); // 1: enabled, 0: disabled
i += put_int8_t_by_index(roll, i, msg->payload); // Attitude roll: -128: -100%, 127: +100%
i += put_int8_t_by_index(pitch, i, msg->payload); // Attitude pitch: -128: -100%, 127: +100%
i += put_int8_t_by_index(yaw, i, msg->payload); // Attitude yaw: -128: -100%, 127: +100%
i += put_int8_t_by_index(thrust, i, msg->payload); // Attitude thrust: -128: -100%, 127: +100%
return mavlink_finalize_message(msg, system_id, component_id, i);
}
/**
* @brief Pack a attitude_controller_output 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 enabled 1: enabled, 0: disabled
* @param roll Attitude roll: -128: -100%, 127: +100%
* @param pitch Attitude pitch: -128: -100%, 127: +100%
* @param yaw Attitude yaw: -128: -100%, 127: +100%
* @param thrust Attitude thrust: -128: -100%, 127: +100%
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_attitude_controller_output_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t enabled, int8_t roll, int8_t pitch, int8_t yaw, int8_t thrust)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_ATTITUDE_CONTROLLER_OUTPUT;
i += put_uint8_t_by_index(enabled, i, msg->payload); // 1: enabled, 0: disabled
i += put_int8_t_by_index(roll, i, msg->payload); // Attitude roll: -128: -100%, 127: +100%
i += put_int8_t_by_index(pitch, i, msg->payload); // Attitude pitch: -128: -100%, 127: +100%
i += put_int8_t_by_index(yaw, i, msg->payload); // Attitude yaw: -128: -100%, 127: +100%
i += put_int8_t_by_index(thrust, i, msg->payload); // Attitude thrust: -128: -100%, 127: +100%
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
/**
* @brief Encode a attitude_controller_output 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 attitude_controller_output C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_attitude_controller_output_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_attitude_controller_output_t* attitude_controller_output)
{
return mavlink_msg_attitude_controller_output_pack(system_id, component_id, msg, attitude_controller_output->enabled, attitude_controller_output->roll, attitude_controller_output->pitch, attitude_controller_output->yaw, attitude_controller_output->thrust);
}
/**
* @brief Send a attitude_controller_output message
* @param chan MAVLink channel to send the message
*
* @param enabled 1: enabled, 0: disabled
* @param roll Attitude roll: -128: -100%, 127: +100%
* @param pitch Attitude pitch: -128: -100%, 127: +100%
* @param yaw Attitude yaw: -128: -100%, 127: +100%
* @param thrust Attitude thrust: -128: -100%, 127: +100%
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_attitude_controller_output_send(mavlink_channel_t chan, uint8_t enabled, int8_t roll, int8_t pitch, int8_t yaw, int8_t thrust)
{
mavlink_message_t msg;
mavlink_msg_attitude_controller_output_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, enabled, roll, pitch, yaw, thrust);
mavlink_send_uart(chan, &msg);
}
#endif
// MESSAGE ATTITUDE_CONTROLLER_OUTPUT UNPACKING
/**
* @brief Get field enabled from attitude_controller_output message
*
* @return 1: enabled, 0: disabled
*/
static inline uint8_t mavlink_msg_attitude_controller_output_get_enabled(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload)[0];
}
/**
* @brief Get field roll from attitude_controller_output message
*
* @return Attitude roll: -128: -100%, 127: +100%
*/
static inline int8_t mavlink_msg_attitude_controller_output_get_roll(const mavlink_message_t* msg)
{
return (int8_t)(msg->payload+sizeof(uint8_t))[0];
}
/**
* @brief Get field pitch from attitude_controller_output message
*
* @return Attitude pitch: -128: -100%, 127: +100%
*/
static inline int8_t mavlink_msg_attitude_controller_output_get_pitch(const mavlink_message_t* msg)
{
return (int8_t)(msg->payload+sizeof(uint8_t)+sizeof(int8_t))[0];
}
/**
* @brief Get field yaw from attitude_controller_output message
*
* @return Attitude yaw: -128: -100%, 127: +100%
*/
static inline int8_t mavlink_msg_attitude_controller_output_get_yaw(const mavlink_message_t* msg)
{
return (int8_t)(msg->payload+sizeof(uint8_t)+sizeof(int8_t)+sizeof(int8_t))[0];
}
/**
* @brief Get field thrust from attitude_controller_output message
*
* @return Attitude thrust: -128: -100%, 127: +100%
*/
static inline int8_t mavlink_msg_attitude_controller_output_get_thrust(const mavlink_message_t* msg)
{
return (int8_t)(msg->payload+sizeof(uint8_t)+sizeof(int8_t)+sizeof(int8_t)+sizeof(int8_t))[0];
}
/**
* @brief Decode a attitude_controller_output message into a struct
*
* @param msg The message to decode
* @param attitude_controller_output C-struct to decode the message contents into
*/
static inline void mavlink_msg_attitude_controller_output_decode(const mavlink_message_t* msg, mavlink_attitude_controller_output_t* attitude_controller_output)
{
attitude_controller_output->enabled = mavlink_msg_attitude_controller_output_get_enabled(msg);
attitude_controller_output->roll = mavlink_msg_attitude_controller_output_get_roll(msg);
attitude_controller_output->pitch = mavlink_msg_attitude_controller_output_get_pitch(msg);
attitude_controller_output->yaw = mavlink_msg_attitude_controller_output_get_yaw(msg);
attitude_controller_output->thrust = mavlink_msg_attitude_controller_output_get_thrust(msg);
}
thirdParty/mavlink/include/common/mavlink_msg_position_controller_output.h deleted 100644 → 0
View file @ d4f8f5b3
// MESSAGE POSITION_CONTROLLER_OUTPUT PACKING
#define MAVLINK_MSG_ID_POSITION_CONTROLLER_OUTPUT 61
typedef struct __mavlink_position_controller_output_t
{
uint8_t enabled; ///< 1: enabled, 0: disabled
int8_t x; ///< Position x: -128: -100%, 127: +100%
int8_t y; ///< Position y: -128: -100%, 127: +100%
int8_t z; ///< Position z: -128: -100%, 127: +100%
int8_t yaw; ///< Position yaw: -128: -100%, 127: +100%
} mavlink_position_controller_output_t;
/**
* @brief Pack a position_controller_output 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 enabled 1: enabled, 0: disabled
* @param x Position x: -128: -100%, 127: +100%
* @param y Position y: -128: -100%, 127: +100%
* @param z Position z: -128: -100%, 127: +100%
* @param yaw Position yaw: -128: -100%, 127: +100%
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_position_controller_output_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t enabled, int8_t x, int8_t y, int8_t z, int8_t yaw)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_POSITION_CONTROLLER_OUTPUT;
i += put_uint8_t_by_index(enabled, i, msg->payload); // 1: enabled, 0: disabled
i += put_int8_t_by_index(x, i, msg->payload); // Position x: -128: -100%, 127: +100%
i += put_int8_t_by_index(y, i, msg->payload); // Position y: -128: -100%, 127: +100%
i += put_int8_t_by_index(z, i, msg->payload); // Position z: -128: -100%, 127: +100%
i += put_int8_t_by_index(yaw, i, msg->payload); // Position yaw: -128: -100%, 127: +100%
return mavlink_finalize_message(msg, system_id, component_id, i);
}
/**
* @brief Pack a position_controller_output 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 enabled 1: enabled, 0: disabled
* @param x Position x: -128: -100%, 127: +100%
* @param y Position y: -128: -100%, 127: +100%
* @param z Position z: -128: -100%, 127: +100%
* @param yaw Position yaw: -128: -100%, 127: +100%
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_position_controller_output_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t enabled, int8_t x, int8_t y, int8_t z, int8_t yaw)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_POSITION_CONTROLLER_OUTPUT;
i += put_uint8_t_by_index(enabled, i, msg->payload); // 1: enabled, 0: disabled
i += put_int8_t_by_index(x, i, msg->payload); // Position x: -128: -100%, 127: +100%
i += put_int8_t_by_index(y, i, msg->payload); // Position y: -128: -100%, 127: +100%
i += put_int8_t_by_index(z, i, msg->payload); // Position z: -128: -100%, 127: +100%
i += put_int8_t_by_index(yaw, i, msg->payload); // Position yaw: -128: -100%, 127: +100%
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
/**
* @brief Encode a position_controller_output 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 position_controller_output C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_position_controller_output_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_position_controller_output_t* position_controller_output)
{
return mavlink_msg_position_controller_output_pack(system_id, component_id, msg, position_controller_output->enabled, position_controller_output->x, position_controller_output->y, position_controller_output->z, position_controller_output->yaw);
}
/**
* @brief Send a position_controller_output message
* @param chan MAVLink channel to send the message
*
* @param enabled 1: enabled, 0: disabled
* @param x Position x: -128: -100%, 127: +100%
* @param y Position y: -128: -100%, 127: +100%
* @param z Position z: -128: -100%, 127: +100%
* @param yaw Position yaw: -128: -100%, 127: +100%
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_position_controller_output_send(mavlink_channel_t chan, uint8_t enabled, int8_t x, int8_t y, int8_t z, int8_t yaw)
{
mavlink_message_t msg;
mavlink_msg_position_controller_output_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, enabled, x, y, z, yaw);
mavlink_send_uart(chan, &msg);
}
#endif
// MESSAGE POSITION_CONTROLLER_OUTPUT UNPACKING
/**
* @brief Get field enabled from position_controller_output message
*
* @return 1: enabled, 0: disabled
*/
static inline uint8_t mavlink_msg_position_controller_output_get_enabled(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload)[0];
}
/**
* @brief Get field x from position_controller_output message
*
* @return Position x: -128: -100%, 127: +100%
*/
static inline int8_t mavlink_msg_position_controller_output_get_x(const mavlink_message_t* msg)
{
return (int8_t)(msg->payload+sizeof(uint8_t))[0];
}
/**
* @brief Get field y from position_controller_output message
*
* @return Position y: -128: -100%, 127: +100%
*/
static inline int8_t mavlink_msg_position_controller_output_get_y(const mavlink_message_t* msg)
{
return (int8_t)(msg->payload+sizeof(uint8_t)+sizeof(int8_t))[0];
}
/**
* @brief Get field z from position_controller_output message
*
* @return Position z: -128: -100%, 127: +100%
*/
static inline int8_t mavlink_msg_position_controller_output_get_z(const mavlink_message_t* msg)
{
return (int8_t)(msg->payload+sizeof(uint8_t)+sizeof(int8_t)+sizeof(int8_t))[0];
}
/**
* @brief Get field yaw from position_controller_output message
*
* @return Position yaw: -128: -100%, 127: +100%
*/
static inline int8_t mavlink_msg_position_controller_output_get_yaw(const mavlink_message_t* msg)
{
return (int8_t)(msg->payload+sizeof(uint8_t)+sizeof(int8_t)+sizeof(int8_t)+sizeof(int8_t))[0];
}
/**
* @brief Decode a position_controller_output message into a struct
*
* @param msg The message to decode
* @param position_controller_output C-struct to decode the message contents into
*/
static inline void mavlink_msg_position_controller_output_decode(const mavlink_message_t* msg, mavlink_position_controller_output_t* position_controller_output)
{
position_controller_output->enabled = mavlink_msg_position_controller_output_get_enabled(msg);
position_controller_output->x = mavlink_msg_position_controller_output_get_x(msg);
position_controller_output->y = mavlink_msg_position_controller_output_get_y(msg);
position_controller_output->z = mavlink_msg_position_controller_output_get_z(msg);
position_controller_output->yaw = mavlink_msg_position_controller_output_get_yaw(msg);
}
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