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mavlink_msg_attitude_controller_output.h 7.07 KB
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James Goppert's avatar
Added local mavlink.
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James Goppert committed
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// 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);
}