Skip to content

Q
qgroundcontrol
Switch branch/tag
Find file
Normal viewHistoryPermalink
mavlink_msg_control_status.h 11.4 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 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 
// MESSAGE CONTROL_STATUS PACKING

#define MAVLINK_MSG_ID_CONTROL_STATUS 52

typedef struct __mavlink_control_status_t 
{
	uint8_t position_fix; ///< Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix 
	uint8_t vision_fix; ///< Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix 
	uint8_t gps_fix; ///< GPS position fix: 0: no reception, 1: Minimum 1 satellite, but no position fix, 2: 2D position fix, 3: 3D position fix 
	uint8_t ahrs_health; ///< Attitude estimation health: 0: poor, 255: excellent
	uint8_t control_att; ///< 0: Attitude control disabled, 1: enabled
	uint8_t control_pos_xy; ///< 0: X, Y position control disabled, 1: enabled
	uint8_t control_pos_z; ///< 0: Z position control disabled, 1: enabled
	uint8_t control_pos_yaw; ///< 0: Yaw angle control disabled, 1: enabled

} mavlink_control_status_t;



/**
 * @brief Pack a control_status 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_fix Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix 
 * @param vision_fix Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix 
 * @param gps_fix GPS position fix: 0: no reception, 1: Minimum 1 satellite, but no position fix, 2: 2D position fix, 3: 3D position fix 
 * @param ahrs_health Attitude estimation health: 0: poor, 255: excellent
 * @param control_att 0: Attitude control disabled, 1: enabled
 * @param control_pos_xy 0: X, Y position control disabled, 1: enabled
 * @param control_pos_z 0: Z position control disabled, 1: enabled
 * @param control_pos_yaw 0: Yaw angle control disabled, 1: enabled
 * @return length of the message in bytes (excluding serial stream start sign)
 */
static inline uint16_t mavlink_msg_control_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t position_fix, uint8_t vision_fix, uint8_t gps_fix, uint8_t ahrs_health, uint8_t control_att, uint8_t control_pos_xy, uint8_t control_pos_z, uint8_t control_pos_yaw)
{
	uint16_t i = 0;
	msg->msgid = MAVLINK_MSG_ID_CONTROL_STATUS;

	i += put_uint8_t_by_index(position_fix, i, msg->payload); // Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix 
	i += put_uint8_t_by_index(vision_fix, i, msg->payload); // Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix 
	i += put_uint8_t_by_index(gps_fix, i, msg->payload); // GPS position fix: 0: no reception, 1: Minimum 1 satellite, but no position fix, 2: 2D position fix, 3: 3D position fix 
	i += put_uint8_t_by_index(ahrs_health, i, msg->payload); // Attitude estimation health: 0: poor, 255: excellent
	i += put_uint8_t_by_index(control_att, i, msg->payload); // 0: Attitude control disabled, 1: enabled
	i += put_uint8_t_by_index(control_pos_xy, i, msg->payload); // 0: X, Y position control disabled, 1: enabled
	i += put_uint8_t_by_index(control_pos_z, i, msg->payload); // 0: Z position control disabled, 1: enabled
	i += put_uint8_t_by_index(control_pos_yaw, i, msg->payload); // 0: Yaw angle control disabled, 1: enabled

	return mavlink_finalize_message(msg, system_id, component_id, i);
}

/**
 * @brief Pack a control_status 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 position_fix Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix 
 * @param vision_fix Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix 
 * @param gps_fix GPS position fix: 0: no reception, 1: Minimum 1 satellite, but no position fix, 2: 2D position fix, 3: 3D position fix 
 * @param ahrs_health Attitude estimation health: 0: poor, 255: excellent
 * @param control_att 0: Attitude control disabled, 1: enabled
 * @param control_pos_xy 0: X, Y position control disabled, 1: enabled
 * @param control_pos_z 0: Z position control disabled, 1: enabled
 * @param control_pos_yaw 0: Yaw angle control disabled, 1: enabled
 * @return length of the message in bytes (excluding serial stream start sign)
 */
static inline uint16_t mavlink_msg_control_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t position_fix, uint8_t vision_fix, uint8_t gps_fix, uint8_t ahrs_health, uint8_t control_att, uint8_t control_pos_xy, uint8_t control_pos_z, uint8_t control_pos_yaw)
{
	uint16_t i = 0;
	msg->msgid = MAVLINK_MSG_ID_CONTROL_STATUS;

	i += put_uint8_t_by_index(position_fix, i, msg->payload); // Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix 
	i += put_uint8_t_by_index(vision_fix, i, msg->payload); // Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix 
	i += put_uint8_t_by_index(gps_fix, i, msg->payload); // GPS position fix: 0: no reception, 1: Minimum 1 satellite, but no position fix, 2: 2D position fix, 3: 3D position fix 
	i += put_uint8_t_by_index(ahrs_health, i, msg->payload); // Attitude estimation health: 0: poor, 255: excellent
	i += put_uint8_t_by_index(control_att, i, msg->payload); // 0: Attitude control disabled, 1: enabled
	i += put_uint8_t_by_index(control_pos_xy, i, msg->payload); // 0: X, Y position control disabled, 1: enabled
	i += put_uint8_t_by_index(control_pos_z, i, msg->payload); // 0: Z position control disabled, 1: enabled
	i += put_uint8_t_by_index(control_pos_yaw, i, msg->payload); // 0: Yaw angle control disabled, 1: enabled

	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}

/**
 * @brief Encode a control_status 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 control_status C-struct to read the message contents from
 */
static inline uint16_t mavlink_msg_control_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_control_status_t* control_status)
{
	return mavlink_msg_control_status_pack(system_id, component_id, msg, control_status->position_fix, control_status->vision_fix, control_status->gps_fix, control_status->ahrs_health, control_status->control_att, control_status->control_pos_xy, control_status->control_pos_z, control_status->control_pos_yaw);
}

/**
 * @brief Send a control_status message
 * @param chan MAVLink channel to send the message
 *
 * @param position_fix Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix 
 * @param vision_fix Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix 
 * @param gps_fix GPS position fix: 0: no reception, 1: Minimum 1 satellite, but no position fix, 2: 2D position fix, 3: 3D position fix 
 * @param ahrs_health Attitude estimation health: 0: poor, 255: excellent
 * @param control_att 0: Attitude control disabled, 1: enabled
 * @param control_pos_xy 0: X, Y position control disabled, 1: enabled
 * @param control_pos_z 0: Z position control disabled, 1: enabled
 * @param control_pos_yaw 0: Yaw angle control disabled, 1: enabled
 */
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS

static inline void mavlink_msg_control_status_send(mavlink_channel_t chan, uint8_t position_fix, uint8_t vision_fix, uint8_t gps_fix, uint8_t ahrs_health, uint8_t control_att, uint8_t control_pos_xy, uint8_t control_pos_z, uint8_t control_pos_yaw)
{
	mavlink_message_t msg;
	mavlink_msg_control_status_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, position_fix, vision_fix, gps_fix, ahrs_health, control_att, control_pos_xy, control_pos_z, control_pos_yaw);
	mavlink_send_uart(chan, &msg);
}

#endif
// MESSAGE CONTROL_STATUS UNPACKING

/**
 * @brief Get field position_fix from control_status message
 *
 * @return Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix 
 */
static inline uint8_t mavlink_msg_control_status_get_position_fix(const mavlink_message_t* msg)
{
	return (uint8_t)(msg->payload)[0];
}

/**
 * @brief Get field vision_fix from control_status message
 *
 * @return Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix 
 */
static inline uint8_t mavlink_msg_control_status_get_vision_fix(const mavlink_message_t* msg)
{
	return (uint8_t)(msg->payload+sizeof(uint8_t))[0];
}

/**
 * @brief Get field gps_fix from control_status message
 *
 * @return GPS position fix: 0: no reception, 1: Minimum 1 satellite, but no position fix, 2: 2D position fix, 3: 3D position fix 
 */
static inline uint8_t mavlink_msg_control_status_get_gps_fix(const mavlink_message_t* msg)
{
	return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0];
}

/**
 * @brief Get field ahrs_health from control_status message
 *
 * @return Attitude estimation health: 0: poor, 255: excellent
 */
static inline uint8_t mavlink_msg_control_status_get_ahrs_health(const mavlink_message_t* msg)
{
	return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0];
}

/**
 * @brief Get field control_att from control_status message
 *
 * @return 0: Attitude control disabled, 1: enabled
 */
static inline uint8_t mavlink_msg_control_status_get_control_att(const mavlink_message_t* msg)
{
	return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0];
}

/**
 * @brief Get field control_pos_xy from control_status message
 *
 * @return 0: X, Y position control disabled, 1: enabled
 */
static inline uint8_t mavlink_msg_control_status_get_control_pos_xy(const mavlink_message_t* msg)
{
	return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0];
}

/**
 * @brief Get field control_pos_z from control_status message
 *
 * @return 0: Z position control disabled, 1: enabled
 */
static inline uint8_t mavlink_msg_control_status_get_control_pos_z(const mavlink_message_t* msg)
{
	return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0];
}

/**
 * @brief Get field control_pos_yaw from control_status message
 *
 * @return 0: Yaw angle control disabled, 1: enabled
 */
static inline uint8_t mavlink_msg_control_status_get_control_pos_yaw(const mavlink_message_t* msg)
{
	return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0];
}

/**
 * @brief Decode a control_status message into a struct
 *
 * @param msg The message to decode
 * @param control_status C-struct to decode the message contents into
 */
static inline void mavlink_msg_control_status_decode(const mavlink_message_t* msg, mavlink_control_status_t* control_status)
{
	control_status->position_fix = mavlink_msg_control_status_get_position_fix(msg);
	control_status->vision_fix = mavlink_msg_control_status_get_vision_fix(msg);
	control_status->gps_fix = mavlink_msg_control_status_get_gps_fix(msg);
	control_status->ahrs_health = mavlink_msg_control_status_get_ahrs_health(msg);
	control_status->control_att = mavlink_msg_control_status_get_control_att(msg);
	control_status->control_pos_xy = mavlink_msg_control_status_get_control_pos_xy(msg);
	control_status->control_pos_z = mavlink_msg_control_status_get_control_pos_z(msg);
	control_status->control_pos_yaw = mavlink_msg_control_status_get_control_pos_yaw(msg);
}