Skip to content

Q
qgroundcontrol
Switch branch/tag
Find file
Normal viewHistoryPermalink
mavlink_msg_position_controller_output.h 6.81 KB
Newer Older
James Goppert's avatar
Added local mavlink.
10f544c1
 
James Goppert committed
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 
// 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);
}