// MESSAGE ATTITUDE_CONTROL PACKING #define MAVLINK_MSG_ID_ATTITUDE_CONTROL 200 typedef struct __mavlink_attitude_control_t { float roll; ///< roll float pitch; ///< pitch float yaw; ///< yaw float thrust; ///< thrust uint8_t target; ///< The system to be controlled uint8_t roll_manual; ///< roll control enabled auto:0, manual:1 uint8_t pitch_manual; ///< pitch auto:0, manual:1 uint8_t yaw_manual; ///< yaw auto:0, manual:1 uint8_t thrust_manual; ///< thrust auto:0, manual:1 } mavlink_attitude_control_t; #define MAVLINK_MSG_ID_ATTITUDE_CONTROL_LEN 21 #define MAVLINK_MSG_ID_200_LEN 21 #define MAVLINK_MSG_ID_ATTITUDE_CONTROL_CRC 254 #define MAVLINK_MSG_ID_200_CRC 254 #define MAVLINK_MESSAGE_INFO_ATTITUDE_CONTROL { \ "ATTITUDE_CONTROL", \ 9, \ { { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_attitude_control_t, roll) }, \ { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_attitude_control_t, pitch) }, \ { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_attitude_control_t, yaw) }, \ { "thrust", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_attitude_control_t, thrust) }, \ { "target", NULL, MAVLINK_TYPE_UINT8_T, 0, 16, offsetof(mavlink_attitude_control_t, target) }, \ { "roll_manual", NULL, MAVLINK_TYPE_UINT8_T, 0, 17, offsetof(mavlink_attitude_control_t, roll_manual) }, \ { "pitch_manual", NULL, MAVLINK_TYPE_UINT8_T, 0, 18, offsetof(mavlink_attitude_control_t, pitch_manual) }, \ { "yaw_manual", NULL, MAVLINK_TYPE_UINT8_T, 0, 19, offsetof(mavlink_attitude_control_t, yaw_manual) }, \ { "thrust_manual", NULL, MAVLINK_TYPE_UINT8_T, 0, 20, offsetof(mavlink_attitude_control_t, thrust_manual) }, \ } \ } /** * @brief Pack a attitude_control 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 target The system to be controlled * @param roll roll * @param pitch pitch * @param yaw yaw * @param thrust thrust * @param roll_manual roll control enabled auto:0, manual:1 * @param pitch_manual pitch auto:0, manual:1 * @param yaw_manual yaw auto:0, manual:1 * @param thrust_manual thrust auto:0, manual:1 * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_attitude_control_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target, float roll, float pitch, float yaw, float thrust, uint8_t roll_manual, uint8_t pitch_manual, uint8_t yaw_manual, uint8_t thrust_manual) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_ATTITUDE_CONTROL_LEN]; _mav_put_float(buf, 0, roll); _mav_put_float(buf, 4, pitch); _mav_put_float(buf, 8, yaw); _mav_put_float(buf, 12, thrust); _mav_put_uint8_t(buf, 16, target); _mav_put_uint8_t(buf, 17, roll_manual); _mav_put_uint8_t(buf, 18, pitch_manual); _mav_put_uint8_t(buf, 19, yaw_manual); _mav_put_uint8_t(buf, 20, thrust_manual); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATTITUDE_CONTROL_LEN); #else mavlink_attitude_control_t packet; packet.roll = roll; packet.pitch = pitch; packet.yaw = yaw; packet.thrust = thrust; packet.target = target; packet.roll_manual = roll_manual; packet.pitch_manual = pitch_manual; packet.yaw_manual = yaw_manual; packet.thrust_manual = thrust_manual; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATTITUDE_CONTROL_LEN); #endif msg->msgid = MAVLINK_MSG_ID_ATTITUDE_CONTROL; #if MAVLINK_CRC_EXTRA return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ATTITUDE_CONTROL_LEN, MAVLINK_MSG_ID_ATTITUDE_CONTROL_CRC); #else return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ATTITUDE_CONTROL_LEN); #endif } /** * @brief Pack a attitude_control message on a channel * @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 will be sent over * @param msg The MAVLink message to compress the data into * @param target The system to be controlled * @param roll roll * @param pitch pitch * @param yaw yaw * @param thrust thrust * @param roll_manual roll control enabled auto:0, manual:1 * @param pitch_manual pitch auto:0, manual:1 * @param yaw_manual yaw auto:0, manual:1 * @param thrust_manual thrust auto:0, manual:1 * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_attitude_control_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target,float roll,float pitch,float yaw,float thrust,uint8_t roll_manual,uint8_t pitch_manual,uint8_t yaw_manual,uint8_t thrust_manual) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_ATTITUDE_CONTROL_LEN]; _mav_put_float(buf, 0, roll); _mav_put_float(buf, 4, pitch); _mav_put_float(buf, 8, yaw); _mav_put_float(buf, 12, thrust); _mav_put_uint8_t(buf, 16, target); _mav_put_uint8_t(buf, 17, roll_manual); _mav_put_uint8_t(buf, 18, pitch_manual); _mav_put_uint8_t(buf, 19, yaw_manual); _mav_put_uint8_t(buf, 20, thrust_manual); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATTITUDE_CONTROL_LEN); #else mavlink_attitude_control_t packet; packet.roll = roll; packet.pitch = pitch; packet.yaw = yaw; packet.thrust = thrust; packet.target = target; packet.roll_manual = roll_manual; packet.pitch_manual = pitch_manual; packet.yaw_manual = yaw_manual; packet.thrust_manual = thrust_manual; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATTITUDE_CONTROL_LEN); #endif msg->msgid = MAVLINK_MSG_ID_ATTITUDE_CONTROL; #if MAVLINK_CRC_EXTRA return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ATTITUDE_CONTROL_LEN, MAVLINK_MSG_ID_ATTITUDE_CONTROL_CRC); #else return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ATTITUDE_CONTROL_LEN); #endif } /** * @brief Encode a attitude_control struct * * @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_control C-struct to read the message contents from */ static inline uint16_t mavlink_msg_attitude_control_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_attitude_control_t* attitude_control) { return mavlink_msg_attitude_control_pack(system_id, component_id, msg, attitude_control->target, attitude_control->roll, attitude_control->pitch, attitude_control->yaw, attitude_control->thrust, attitude_control->roll_manual, attitude_control->pitch_manual, attitude_control->yaw_manual, attitude_control->thrust_manual); } /** * @brief Encode a attitude_control struct on a channel * * @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 will be sent over * @param msg The MAVLink message to compress the data into * @param attitude_control C-struct to read the message contents from */ static inline uint16_t mavlink_msg_attitude_control_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_attitude_control_t* attitude_control) { return mavlink_msg_attitude_control_pack_chan(system_id, component_id, chan, msg, attitude_control->target, attitude_control->roll, attitude_control->pitch, attitude_control->yaw, attitude_control->thrust, attitude_control->roll_manual, attitude_control->pitch_manual, attitude_control->yaw_manual, attitude_control->thrust_manual); } /** * @brief Send a attitude_control message * @param chan MAVLink channel to send the message * * @param target The system to be controlled * @param roll roll * @param pitch pitch * @param yaw yaw * @param thrust thrust * @param roll_manual roll control enabled auto:0, manual:1 * @param pitch_manual pitch auto:0, manual:1 * @param yaw_manual yaw auto:0, manual:1 * @param thrust_manual thrust auto:0, manual:1 */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS static inline void mavlink_msg_attitude_control_send(mavlink_channel_t chan, uint8_t target, float roll, float pitch, float yaw, float thrust, uint8_t roll_manual, uint8_t pitch_manual, uint8_t yaw_manual, uint8_t thrust_manual) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_ATTITUDE_CONTROL_LEN]; _mav_put_float(buf, 0, roll); _mav_put_float(buf, 4, pitch); _mav_put_float(buf, 8, yaw); _mav_put_float(buf, 12, thrust); _mav_put_uint8_t(buf, 16, target); _mav_put_uint8_t(buf, 17, roll_manual); _mav_put_uint8_t(buf, 18, pitch_manual); _mav_put_uint8_t(buf, 19, yaw_manual); _mav_put_uint8_t(buf, 20, thrust_manual); #if MAVLINK_CRC_EXTRA _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_CONTROL, buf, MAVLINK_MSG_ID_ATTITUDE_CONTROL_LEN, MAVLINK_MSG_ID_ATTITUDE_CONTROL_CRC); #else _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_CONTROL, buf, MAVLINK_MSG_ID_ATTITUDE_CONTROL_LEN); #endif #else mavlink_attitude_control_t packet; packet.roll = roll; packet.pitch = pitch; packet.yaw = yaw; packet.thrust = thrust; packet.target = target; packet.roll_manual = roll_manual; packet.pitch_manual = pitch_manual; packet.yaw_manual = yaw_manual; packet.thrust_manual = thrust_manual; #if MAVLINK_CRC_EXTRA _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_CONTROL, (const char *)&packet, MAVLINK_MSG_ID_ATTITUDE_CONTROL_LEN, MAVLINK_MSG_ID_ATTITUDE_CONTROL_CRC); #else _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_CONTROL, (const char *)&packet, MAVLINK_MSG_ID_ATTITUDE_CONTROL_LEN); #endif #endif } #if MAVLINK_MSG_ID_ATTITUDE_CONTROL_LEN <= MAVLINK_MAX_PAYLOAD_LEN /* This varient of _send() can be used to save stack space by re-using memory from the receive buffer. The caller provides a mavlink_message_t which is the size of a full mavlink message. This is usually the receive buffer for the channel, and allows a reply to an incoming message with minimum stack space usage. */ static inline void mavlink_msg_attitude_control_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target, float roll, float pitch, float yaw, float thrust, uint8_t roll_manual, uint8_t pitch_manual, uint8_t yaw_manual, uint8_t thrust_manual) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char *buf = (char *)msgbuf; _mav_put_float(buf, 0, roll); _mav_put_float(buf, 4, pitch); _mav_put_float(buf, 8, yaw); _mav_put_float(buf, 12, thrust); _mav_put_uint8_t(buf, 16, target); _mav_put_uint8_t(buf, 17, roll_manual); _mav_put_uint8_t(buf, 18, pitch_manual); _mav_put_uint8_t(buf, 19, yaw_manual); _mav_put_uint8_t(buf, 20, thrust_manual); #if MAVLINK_CRC_EXTRA _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_CONTROL, buf, MAVLINK_MSG_ID_ATTITUDE_CONTROL_LEN, MAVLINK_MSG_ID_ATTITUDE_CONTROL_CRC); #else _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_CONTROL, buf, MAVLINK_MSG_ID_ATTITUDE_CONTROL_LEN); #endif #else mavlink_attitude_control_t *packet = (mavlink_attitude_control_t *)msgbuf; packet->roll = roll; packet->pitch = pitch; packet->yaw = yaw; packet->thrust = thrust; packet->target = target; packet->roll_manual = roll_manual; packet->pitch_manual = pitch_manual; packet->yaw_manual = yaw_manual; packet->thrust_manual = thrust_manual; #if MAVLINK_CRC_EXTRA _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_CONTROL, (const char *)packet, MAVLINK_MSG_ID_ATTITUDE_CONTROL_LEN, MAVLINK_MSG_ID_ATTITUDE_CONTROL_CRC); #else _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_CONTROL, (const char *)packet, MAVLINK_MSG_ID_ATTITUDE_CONTROL_LEN); #endif #endif } #endif #endif // MESSAGE ATTITUDE_CONTROL UNPACKING /** * @brief Get field target from attitude_control message * * @return The system to be controlled */ static inline uint8_t mavlink_msg_attitude_control_get_target(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 16); } /** * @brief Get field roll from attitude_control message * * @return roll */ static inline float mavlink_msg_attitude_control_get_roll(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 0); } /** * @brief Get field pitch from attitude_control message * * @return pitch */ static inline float mavlink_msg_attitude_control_get_pitch(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 4); } /** * @brief Get field yaw from attitude_control message * * @return yaw */ static inline float mavlink_msg_attitude_control_get_yaw(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 8); } /** * @brief Get field thrust from attitude_control message * * @return thrust */ static inline float mavlink_msg_attitude_control_get_thrust(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 12); } /** * @brief Get field roll_manual from attitude_control message * * @return roll control enabled auto:0, manual:1 */ static inline uint8_t mavlink_msg_attitude_control_get_roll_manual(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 17); } /** * @brief Get field pitch_manual from attitude_control message * * @return pitch auto:0, manual:1 */ static inline uint8_t mavlink_msg_attitude_control_get_pitch_manual(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 18); } /** * @brief Get field yaw_manual from attitude_control message * * @return yaw auto:0, manual:1 */ static inline uint8_t mavlink_msg_attitude_control_get_yaw_manual(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 19); } /** * @brief Get field thrust_manual from attitude_control message * * @return thrust auto:0, manual:1 */ static inline uint8_t mavlink_msg_attitude_control_get_thrust_manual(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 20); } /** * @brief Decode a attitude_control message into a struct * * @param msg The message to decode * @param attitude_control C-struct to decode the message contents into */ static inline void mavlink_msg_attitude_control_decode(const mavlink_message_t* msg, mavlink_attitude_control_t* attitude_control) { #if MAVLINK_NEED_BYTE_SWAP attitude_control->roll = mavlink_msg_attitude_control_get_roll(msg); attitude_control->pitch = mavlink_msg_attitude_control_get_pitch(msg); attitude_control->yaw = mavlink_msg_attitude_control_get_yaw(msg); attitude_control->thrust = mavlink_msg_attitude_control_get_thrust(msg); attitude_control->target = mavlink_msg_attitude_control_get_target(msg); attitude_control->roll_manual = mavlink_msg_attitude_control_get_roll_manual(msg); attitude_control->pitch_manual = mavlink_msg_attitude_control_get_pitch_manual(msg); attitude_control->yaw_manual = mavlink_msg_attitude_control_get_yaw_manual(msg); attitude_control->thrust_manual = mavlink_msg_attitude_control_get_thrust_manual(msg); #else memcpy(attitude_control, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_ATTITUDE_CONTROL_LEN); #endif }