lib/main/MAVLink/common/mavlink_msg_actuator_control_target.h

   1 // MESSAGE ACTUATOR_CONTROL_TARGET PACKING
   2
   3 #define MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET 140
   4
   5 typedef struct __mavlink_actuator_control_target_t
   6 {
   7  uint64_t time_usec; ///< Timestamp (micros since boot or Unix epoch)
   8  float controls[8]; ///< Actuator controls. Normed to -1..+1 where 0 is neutral position. Throttle for single rotation direction motors is 0..1, negative range for reverse direction. Standard mapping for attitude controls (group 0): (index 0-7): roll, pitch, yaw, throttle, flaps, spoilers, airbrakes, landing gear. Load a pass-through mixer to repurpose them as generic outputs.
   9  uint8_t group_mlx; ///< Actuator group. The "_mlx" indicates this is a multi-instance message and a MAVLink parser should use this field to difference between instances.
  10 } mavlink_actuator_control_target_t;
  11
  12 #define MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN 41
  13 #define MAVLINK_MSG_ID_140_LEN 41
  14
  15 #define MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_CRC 181
  16 #define MAVLINK_MSG_ID_140_CRC 181
  17
  18 #define MAVLINK_MSG_ACTUATOR_CONTROL_TARGET_FIELD_CONTROLS_LEN 8
  19
  20 #define MAVLINK_MESSAGE_INFO_ACTUATOR_CONTROL_TARGET { \
  21         "ACTUATOR_CONTROL_TARGET", \
  22         3, \
  23         {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_actuator_control_target_t, time_usec) }, \
  24          { "controls", NULL, MAVLINK_TYPE_FLOAT, 8, 8, offsetof(mavlink_actuator_control_target_t, controls) }, \
  25          { "group_mlx", NULL, MAVLINK_TYPE_UINT8_T, 0, 40, offsetof(mavlink_actuator_control_target_t, group_mlx) }, \
  26          } \
  27 }
  28
  29
  30 /**
  31  * @brief Pack a actuator_control_target message
  32  * @param system_id ID of this system
  33  * @param component_id ID of this component (e.g. 200 for IMU)
  34  * @param msg The MAVLink message to compress the data into
  35  *
  36  * @param time_usec Timestamp (micros since boot or Unix epoch)
  37  * @param group_mlx Actuator group. The "_mlx" indicates this is a multi-instance message and a MAVLink parser should use this field to difference between instances.
  38  * @param controls Actuator controls. Normed to -1..+1 where 0 is neutral position. Throttle for single rotation direction motors is 0..1, negative range for reverse direction. Standard mapping for attitude controls (group 0): (index 0-7): roll, pitch, yaw, throttle, flaps, spoilers, airbrakes, landing gear. Load a pass-through mixer to repurpose them as generic outputs.
  39  * @return length of the message in bytes (excluding serial stream start sign)
  40  */
  41 static inline uint16_t mavlink_msg_actuator_control_target_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  42                                                        uint64_t time_usec, uint8_t group_mlx, const float *controls)
  43 {
  44 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  45         char buf[MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN];
  46         _mav_put_uint64_t(buf, 0, time_usec);
  47         _mav_put_uint8_t(buf, 40, group_mlx);
  48         _mav_put_float_array(buf, 8, controls, 8);
  49         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN);
  50 #else
  51         mavlink_actuator_control_target_t packet;
  52         packet.time_usec = time_usec;
  53         packet.group_mlx = group_mlx;
  54         mav_array_memcpy(packet.controls, controls, sizeof(float)*8);
  55         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN);
  56 #endif
  57
  58         msg->msgid = MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET;
  59 #if MAVLINK_CRC_EXTRA
  60     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_CRC);
  61 #else
  62     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN);
  63 #endif
  64 }
  65
  66 /**
  67  * @brief Pack a actuator_control_target message on a channel
  68  * @param system_id ID of this system
  69  * @param component_id ID of this component (e.g. 200 for IMU)
  70  * @param chan The MAVLink channel this message will be sent over
  71  * @param msg The MAVLink message to compress the data into
  72  * @param time_usec Timestamp (micros since boot or Unix epoch)
  73  * @param group_mlx Actuator group. The "_mlx" indicates this is a multi-instance message and a MAVLink parser should use this field to difference between instances.
  74  * @param controls Actuator controls. Normed to -1..+1 where 0 is neutral position. Throttle for single rotation direction motors is 0..1, negative range for reverse direction. Standard mapping for attitude controls (group 0): (index 0-7): roll, pitch, yaw, throttle, flaps, spoilers, airbrakes, landing gear. Load a pass-through mixer to repurpose them as generic outputs.
  75  * @return length of the message in bytes (excluding serial stream start sign)
  76  */
  77 static inline uint16_t mavlink_msg_actuator_control_target_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
  78                                                            mavlink_message_t* msg,
  79                                                            uint64_t time_usec,uint8_t group_mlx,const float *controls)
  80 {
  81 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  82         char buf[MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN];
  83         _mav_put_uint64_t(buf, 0, time_usec);
  84         _mav_put_uint8_t(buf, 40, group_mlx);
  85         _mav_put_float_array(buf, 8, controls, 8);
  86         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN);
  87 #else
  88         mavlink_actuator_control_target_t packet;
  89         packet.time_usec = time_usec;
  90         packet.group_mlx = group_mlx;
  91         mav_array_memcpy(packet.controls, controls, sizeof(float)*8);
  92         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN);
  93 #endif
  94
  95         msg->msgid = MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET;
  96 #if MAVLINK_CRC_EXTRA
  97     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_CRC);
  98 #else
  99     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN);
 100 #endif
 101 }
 102
 103 /**
 104  * @brief Encode a actuator_control_target struct
 105  *
 106  * @param system_id ID of this system
 107  * @param component_id ID of this component (e.g. 200 for IMU)
 108  * @param msg The MAVLink message to compress the data into
 109  * @param actuator_control_target C-struct to read the message contents from
 110  */
 111 static inline uint16_t mavlink_msg_actuator_control_target_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_actuator_control_target_t* actuator_control_target)
 112 {
 113         return mavlink_msg_actuator_control_target_pack(system_id, component_id, msg, actuator_control_target->time_usec, actuator_control_target->group_mlx, actuator_control_target->controls);
 114 }
 115
 116 /**
 117  * @brief Encode a actuator_control_target struct on a channel
 118  *
 119  * @param system_id ID of this system
 120  * @param component_id ID of this component (e.g. 200 for IMU)
 121  * @param chan The MAVLink channel this message will be sent over
 122  * @param msg The MAVLink message to compress the data into
 123  * @param actuator_control_target C-struct to read the message contents from
 124  */
 125 static inline uint16_t mavlink_msg_actuator_control_target_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_actuator_control_target_t* actuator_control_target)
 126 {
 127         return mavlink_msg_actuator_control_target_pack_chan(system_id, component_id, chan, msg, actuator_control_target->time_usec, actuator_control_target->group_mlx, actuator_control_target->controls);
 128 }
 129
 130 /**
 131  * @brief Send a actuator_control_target message
 132  * @param chan MAVLink channel to send the message
 133  *
 134  * @param time_usec Timestamp (micros since boot or Unix epoch)
 135  * @param group_mlx Actuator group. The "_mlx" indicates this is a multi-instance message and a MAVLink parser should use this field to difference between instances.
 136  * @param controls Actuator controls. Normed to -1..+1 where 0 is neutral position. Throttle for single rotation direction motors is 0..1, negative range for reverse direction. Standard mapping for attitude controls (group 0): (index 0-7): roll, pitch, yaw, throttle, flaps, spoilers, airbrakes, landing gear. Load a pass-through mixer to repurpose them as generic outputs.
 137  */
 138 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 139
 140 static inline void mavlink_msg_actuator_control_target_send(mavlink_channel_t chan, uint64_t time_usec, uint8_t group_mlx, const float *controls)
 141 {
 142 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 143         char buf[MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN];
 144         _mav_put_uint64_t(buf, 0, time_usec);
 145         _mav_put_uint8_t(buf, 40, group_mlx);
 146         _mav_put_float_array(buf, 8, controls, 8);
 147 #if MAVLINK_CRC_EXTRA
 148     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET, buf, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_CRC);
 149 #else
 150     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET, buf, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN);
 151 #endif
 152 #else
 153         mavlink_actuator_control_target_t packet;
 154         packet.time_usec = time_usec;
 155         packet.group_mlx = group_mlx;
 156         mav_array_memcpy(packet.controls, controls, sizeof(float)*8);
 157 #if MAVLINK_CRC_EXTRA
 158     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET, (const char *)&packet, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_CRC);
 159 #else
 160     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET, (const char *)&packet, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN);
 161 #endif
 162 #endif
 163 }
 164
 165 #if MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 166 /*
 167   This varient of _send() can be used to save stack space by re-using
 168   memory from the receive buffer.  The caller provides a
 169   mavlink_message_t which is the size of a full mavlink message. This
 170   is usually the receive buffer for the channel, and allows a reply to an
 171   incoming message with minimum stack space usage.
 172  */
 173 static inline void mavlink_msg_actuator_control_target_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint64_t time_usec, uint8_t group_mlx, const float *controls)
 174 {
 175 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 176         char *buf = (char *)msgbuf;
 177         _mav_put_uint64_t(buf, 0, time_usec);
 178         _mav_put_uint8_t(buf, 40, group_mlx);
 179         _mav_put_float_array(buf, 8, controls, 8);
 180 #if MAVLINK_CRC_EXTRA
 181     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET, buf, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_CRC);
 182 #else
 183     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET, buf, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN);
 184 #endif
 185 #else
 186         mavlink_actuator_control_target_t *packet = (mavlink_actuator_control_target_t *)msgbuf;
 187         packet->time_usec = time_usec;
 188         packet->group_mlx = group_mlx;
 189         mav_array_memcpy(packet->controls, controls, sizeof(float)*8);
 190 #if MAVLINK_CRC_EXTRA
 191     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET, (const char *)packet, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_CRC);
 192 #else
 193     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET, (const char *)packet, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN);
 194 #endif
 195 #endif
 196 }
 197 #endif
 198
 199 #endif
 200
 201 // MESSAGE ACTUATOR_CONTROL_TARGET UNPACKING
 202
 203
 204 /**
 205  * @brief Get field time_usec from actuator_control_target message
 206  *
 207  * @return Timestamp (micros since boot or Unix epoch)
 208  */
 209 static inline uint64_t mavlink_msg_actuator_control_target_get_time_usec(const mavlink_message_t* msg)
 210 {
 211         return _MAV_RETURN_uint64_t(msg,  0);
 212 }
 213
 214 /**
 215  * @brief Get field group_mlx from actuator_control_target message
 216  *
 217  * @return Actuator group. The "_mlx" indicates this is a multi-instance message and a MAVLink parser should use this field to difference between instances.
 218  */
 219 static inline uint8_t mavlink_msg_actuator_control_target_get_group_mlx(const mavlink_message_t* msg)
 220 {
 221         return _MAV_RETURN_uint8_t(msg,  40);
 222 }
 223
 224 /**
 225  * @brief Get field controls from actuator_control_target message
 226  *
 227  * @return Actuator controls. Normed to -1..+1 where 0 is neutral position. Throttle for single rotation direction motors is 0..1, negative range for reverse direction. Standard mapping for attitude controls (group 0): (index 0-7): roll, pitch, yaw, throttle, flaps, spoilers, airbrakes, landing gear. Load a pass-through mixer to repurpose them as generic outputs.
 228  */
 229 static inline uint16_t mavlink_msg_actuator_control_target_get_controls(const mavlink_message_t* msg, float *controls)
 230 {
 231         return _MAV_RETURN_float_array(msg, controls, 8,  8);
 232 }
 233
 234 /**
 235  * @brief Decode a actuator_control_target message into a struct
 236  *
 237  * @param msg The message to decode
 238  * @param actuator_control_target C-struct to decode the message contents into
 239  */
 240 static inline void mavlink_msg_actuator_control_target_decode(const mavlink_message_t* msg, mavlink_actuator_control_target_t* actuator_control_target)
 241 {
 242 #if MAVLINK_NEED_BYTE_SWAP
 243         actuator_control_target->time_usec = mavlink_msg_actuator_control_target_get_time_usec(msg);
 244         mavlink_msg_actuator_control_target_get_controls(msg, actuator_control_target->controls);
 245         actuator_control_target->group_mlx = mavlink_msg_actuator_control_target_get_group_mlx(msg);
 246 #else
 247         memcpy(actuator_control_target, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN);
 248 #endif
 249 }