// 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; #define MAVLINK_MSG_ID_CONTROL_STATUS_LEN 8 #define MAVLINK_MSG_ID_52_LEN 8 #define MAVLINK_MESSAGE_INFO_CONTROL_STATUS { \ "CONTROL_STATUS", \ 8, \ { { "position_fix", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_control_status_t, position_fix) }, \ { "vision_fix", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_control_status_t, vision_fix) }, \ { "gps_fix", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_control_status_t, gps_fix) }, \ { "ahrs_health", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_control_status_t, ahrs_health) }, \ { "control_att", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_control_status_t, control_att) }, \ { "control_pos_xy", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_control_status_t, control_pos_xy) }, \ { "control_pos_z", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_control_status_t, control_pos_z) }, \ { "control_pos_yaw", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_control_status_t, control_pos_yaw) }, \ } \ } /** * @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) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[8]; _mav_put_uint8_t(buf, 0, position_fix); _mav_put_uint8_t(buf, 1, vision_fix); _mav_put_uint8_t(buf, 2, gps_fix); _mav_put_uint8_t(buf, 3, ahrs_health); _mav_put_uint8_t(buf, 4, control_att); _mav_put_uint8_t(buf, 5, control_pos_xy); _mav_put_uint8_t(buf, 6, control_pos_z); _mav_put_uint8_t(buf, 7, control_pos_yaw); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 8); #else mavlink_control_status_t packet; packet.position_fix = position_fix; packet.vision_fix = vision_fix; packet.gps_fix = gps_fix; packet.ahrs_health = ahrs_health; packet.control_att = control_att; packet.control_pos_xy = control_pos_xy; packet.control_pos_z = control_pos_z; packet.control_pos_yaw = control_pos_yaw; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 8); #endif msg->msgid = MAVLINK_MSG_ID_CONTROL_STATUS; return mavlink_finalize_message(msg, system_id, component_id, 8); } /** * @brief Pack a control_status 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 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) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[8]; _mav_put_uint8_t(buf, 0, position_fix); _mav_put_uint8_t(buf, 1, vision_fix); _mav_put_uint8_t(buf, 2, gps_fix); _mav_put_uint8_t(buf, 3, ahrs_health); _mav_put_uint8_t(buf, 4, control_att); _mav_put_uint8_t(buf, 5, control_pos_xy); _mav_put_uint8_t(buf, 6, control_pos_z); _mav_put_uint8_t(buf, 7, control_pos_yaw); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 8); #else mavlink_control_status_t packet; packet.position_fix = position_fix; packet.vision_fix = vision_fix; packet.gps_fix = gps_fix; packet.ahrs_health = ahrs_health; packet.control_att = control_att; packet.control_pos_xy = control_pos_xy; packet.control_pos_z = control_pos_z; packet.control_pos_yaw = control_pos_yaw; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 8); #endif msg->msgid = MAVLINK_MSG_ID_CONTROL_STATUS; return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 8); } /** * @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) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[8]; _mav_put_uint8_t(buf, 0, position_fix); _mav_put_uint8_t(buf, 1, vision_fix); _mav_put_uint8_t(buf, 2, gps_fix); _mav_put_uint8_t(buf, 3, ahrs_health); _mav_put_uint8_t(buf, 4, control_att); _mav_put_uint8_t(buf, 5, control_pos_xy); _mav_put_uint8_t(buf, 6, control_pos_z); _mav_put_uint8_t(buf, 7, control_pos_yaw); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CONTROL_STATUS, buf, 8); #else mavlink_control_status_t packet; packet.position_fix = position_fix; packet.vision_fix = vision_fix; packet.gps_fix = gps_fix; packet.ahrs_health = ahrs_health; packet.control_att = control_att; packet.control_pos_xy = control_pos_xy; packet.control_pos_z = control_pos_z; packet.control_pos_yaw = control_pos_yaw; _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CONTROL_STATUS, (const char *)&packet, 8); #endif } #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 _MAV_RETURN_uint8_t(msg, 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 _MAV_RETURN_uint8_t(msg, 1); } /** * @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 _MAV_RETURN_uint8_t(msg, 2); } /** * @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 _MAV_RETURN_uint8_t(msg, 3); } /** * @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 _MAV_RETURN_uint8_t(msg, 4); } /** * @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 _MAV_RETURN_uint8_t(msg, 5); } /** * @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 _MAV_RETURN_uint8_t(msg, 6); } /** * @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 _MAV_RETURN_uint8_t(msg, 7); } /** * @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) { #if MAVLINK_NEED_BYTE_SWAP 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); #else memcpy(control_status, _MAV_PAYLOAD(msg), 8); #endif }