// MESSAGE SET_CAM_SHUTTER PACKING #define MAVLINK_MSG_ID_SET_CAM_SHUTTER 100 typedef struct __mavlink_set_cam_shutter_t { uint8_t cam_no; ///< Camera id uint8_t cam_mode; ///< Camera mode: 0 = auto, 1 = manual uint8_t trigger_pin; ///< Trigger pin, 0-3 for PtGrey FireFly uint16_t interval; ///< Shutter interval, in microseconds uint16_t exposure; ///< Exposure time, in microseconds float gain; ///< Camera gain } mavlink_set_cam_shutter_t; /** * @brief Pack a set_cam_shutter 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 cam_no Camera id * @param cam_mode Camera mode: 0 = auto, 1 = manual * @param trigger_pin Trigger pin, 0-3 for PtGrey FireFly * @param interval Shutter interval, in microseconds * @param exposure Exposure time, in microseconds * @param gain Camera gain * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_set_cam_shutter_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t cam_no, uint8_t cam_mode, uint8_t trigger_pin, uint16_t interval, uint16_t exposure, float gain) { uint16_t i = 0; msg->msgid = MAVLINK_MSG_ID_SET_CAM_SHUTTER; i += put_uint8_t_by_index(cam_no, i, msg->payload); // Camera id i += put_uint8_t_by_index(cam_mode, i, msg->payload); // Camera mode: 0 = auto, 1 = manual i += put_uint8_t_by_index(trigger_pin, i, msg->payload); // Trigger pin, 0-3 for PtGrey FireFly i += put_uint16_t_by_index(interval, i, msg->payload); // Shutter interval, in microseconds i += put_uint16_t_by_index(exposure, i, msg->payload); // Exposure time, in microseconds i += put_float_by_index(gain, i, msg->payload); // Camera gain return mavlink_finalize_message(msg, system_id, component_id, i); } /** * @brief Pack a set_cam_shutter 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 cam_no Camera id * @param cam_mode Camera mode: 0 = auto, 1 = manual * @param trigger_pin Trigger pin, 0-3 for PtGrey FireFly * @param interval Shutter interval, in microseconds * @param exposure Exposure time, in microseconds * @param gain Camera gain * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_set_cam_shutter_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t cam_no, uint8_t cam_mode, uint8_t trigger_pin, uint16_t interval, uint16_t exposure, float gain) { uint16_t i = 0; msg->msgid = MAVLINK_MSG_ID_SET_CAM_SHUTTER; i += put_uint8_t_by_index(cam_no, i, msg->payload); // Camera id i += put_uint8_t_by_index(cam_mode, i, msg->payload); // Camera mode: 0 = auto, 1 = manual i += put_uint8_t_by_index(trigger_pin, i, msg->payload); // Trigger pin, 0-3 for PtGrey FireFly i += put_uint16_t_by_index(interval, i, msg->payload); // Shutter interval, in microseconds i += put_uint16_t_by_index(exposure, i, msg->payload); // Exposure time, in microseconds i += put_float_by_index(gain, i, msg->payload); // Camera gain return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); } /** * @brief Encode a set_cam_shutter 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 set_cam_shutter C-struct to read the message contents from */ static inline uint16_t mavlink_msg_set_cam_shutter_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_cam_shutter_t* set_cam_shutter) { return mavlink_msg_set_cam_shutter_pack(system_id, component_id, msg, set_cam_shutter->cam_no, set_cam_shutter->cam_mode, set_cam_shutter->trigger_pin, set_cam_shutter->interval, set_cam_shutter->exposure, set_cam_shutter->gain); } /** * @brief Send a set_cam_shutter message * @param chan MAVLink channel to send the message * * @param cam_no Camera id * @param cam_mode Camera mode: 0 = auto, 1 = manual * @param trigger_pin Trigger pin, 0-3 for PtGrey FireFly * @param interval Shutter interval, in microseconds * @param exposure Exposure time, in microseconds * @param gain Camera gain */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS static inline void mavlink_msg_set_cam_shutter_send(mavlink_channel_t chan, uint8_t cam_no, uint8_t cam_mode, uint8_t trigger_pin, uint16_t interval, uint16_t exposure, float gain) { mavlink_message_t msg; mavlink_msg_set_cam_shutter_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, cam_no, cam_mode, trigger_pin, interval, exposure, gain); mavlink_send_uart(chan, &msg); } #endif // MESSAGE SET_CAM_SHUTTER UNPACKING /** * @brief Get field cam_no from set_cam_shutter message * * @return Camera id */ static inline uint8_t mavlink_msg_set_cam_shutter_get_cam_no(const mavlink_message_t* msg) { return (uint8_t)(msg->payload)[0]; } /** * @brief Get field cam_mode from set_cam_shutter message * * @return Camera mode: 0 = auto, 1 = manual */ static inline uint8_t mavlink_msg_set_cam_shutter_get_cam_mode(const mavlink_message_t* msg) { return (uint8_t)(msg->payload+sizeof(uint8_t))[0]; } /** * @brief Get field trigger_pin from set_cam_shutter message * * @return Trigger pin, 0-3 for PtGrey FireFly */ static inline uint8_t mavlink_msg_set_cam_shutter_get_trigger_pin(const mavlink_message_t* msg) { return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0]; } /** * @brief Get field interval from set_cam_shutter message * * @return Shutter interval, in microseconds */ static inline uint16_t mavlink_msg_set_cam_shutter_get_interval(const mavlink_message_t* msg) { generic_16bit r; r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0]; r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[1]; return (uint16_t)r.s; } /** * @brief Get field exposure from set_cam_shutter message * * @return Exposure time, in microseconds */ static inline uint16_t mavlink_msg_set_cam_shutter_get_exposure(const mavlink_message_t* msg) { generic_16bit r; r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t))[0]; r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t))[1]; return (uint16_t)r.s; } /** * @brief Get field gain from set_cam_shutter message * * @return Camera gain */ static inline float mavlink_msg_set_cam_shutter_get_gain(const mavlink_message_t* msg) { generic_32bit r; r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t))[0]; r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t))[1]; r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t))[2]; r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t))[3]; return (float)r.f; } /** * @brief Decode a set_cam_shutter message into a struct * * @param msg The message to decode * @param set_cam_shutter C-struct to decode the message contents into */ static inline void mavlink_msg_set_cam_shutter_decode(const mavlink_message_t* msg, mavlink_set_cam_shutter_t* set_cam_shutter) { set_cam_shutter->cam_no = mavlink_msg_set_cam_shutter_get_cam_no(msg); set_cam_shutter->cam_mode = mavlink_msg_set_cam_shutter_get_cam_mode(msg); set_cam_shutter->trigger_pin = mavlink_msg_set_cam_shutter_get_trigger_pin(msg); set_cam_shutter->interval = mavlink_msg_set_cam_shutter_get_interval(msg); set_cam_shutter->exposure = mavlink_msg_set_cam_shutter_get_exposure(msg); set_cam_shutter->gain = mavlink_msg_set_cam_shutter_get_gain(msg); }