lib/main/MAVLink/common/mavlink_msg_attitude_target.h

   1 // MESSAGE ATTITUDE_TARGET PACKING
   2
   3 #define MAVLINK_MSG_ID_ATTITUDE_TARGET 83
   4
   5 typedef struct __mavlink_attitude_target_t
   6 {
   7  uint32_t time_boot_ms; ///< Timestamp in milliseconds since system boot
   8  float q[4]; ///< Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
   9  float body_roll_rate; ///< Body roll rate in radians per second
  10  float body_pitch_rate; ///< Body roll rate in radians per second
  11  float body_yaw_rate; ///< Body roll rate in radians per second
  12  float thrust; ///< Collective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust)
  13  uint8_t type_mask; ///< Mappings: If any of these bits are set, the corresponding input should be ignored: bit 1: body roll rate, bit 2: body pitch rate, bit 3: body yaw rate. bit 4-bit 7: reserved, bit 8: attitude
  14 } mavlink_attitude_target_t;
  15
  16 #define MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN 37
  17 #define MAVLINK_MSG_ID_83_LEN 37
  18
  19 #define MAVLINK_MSG_ID_ATTITUDE_TARGET_CRC 22
  20 #define MAVLINK_MSG_ID_83_CRC 22
  21
  22 #define MAVLINK_MSG_ATTITUDE_TARGET_FIELD_Q_LEN 4
  23
  24 #define MAVLINK_MESSAGE_INFO_ATTITUDE_TARGET { \
  25         "ATTITUDE_TARGET", \
  26         7, \
  27         {  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_attitude_target_t, time_boot_ms) }, \
  28          { "q", NULL, MAVLINK_TYPE_FLOAT, 4, 4, offsetof(mavlink_attitude_target_t, q) }, \
  29          { "body_roll_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_attitude_target_t, body_roll_rate) }, \
  30          { "body_pitch_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_attitude_target_t, body_pitch_rate) }, \
  31          { "body_yaw_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_attitude_target_t, body_yaw_rate) }, \
  32          { "thrust", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_attitude_target_t, thrust) }, \
  33          { "type_mask", NULL, MAVLINK_TYPE_UINT8_T, 0, 36, offsetof(mavlink_attitude_target_t, type_mask) }, \
  34          } \
  35 }
  36
  37
  38 /**
  39  * @brief Pack a attitude_target message
  40  * @param system_id ID of this system
  41  * @param component_id ID of this component (e.g. 200 for IMU)
  42  * @param msg The MAVLink message to compress the data into
  43  *
  44  * @param time_boot_ms Timestamp in milliseconds since system boot
  45  * @param type_mask Mappings: If any of these bits are set, the corresponding input should be ignored: bit 1: body roll rate, bit 2: body pitch rate, bit 3: body yaw rate. bit 4-bit 7: reserved, bit 8: attitude
  46  * @param q Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
  47  * @param body_roll_rate Body roll rate in radians per second
  48  * @param body_pitch_rate Body roll rate in radians per second
  49  * @param body_yaw_rate Body roll rate in radians per second
  50  * @param thrust Collective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust)
  51  * @return length of the message in bytes (excluding serial stream start sign)
  52  */
  53 static inline uint16_t mavlink_msg_attitude_target_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  54                                                        uint32_t time_boot_ms, uint8_t type_mask, const float *q, float body_roll_rate, float body_pitch_rate, float body_yaw_rate, float thrust)
  55 {
  56 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  57         char buf[MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN];
  58         _mav_put_uint32_t(buf, 0, time_boot_ms);
  59         _mav_put_float(buf, 20, body_roll_rate);
  60         _mav_put_float(buf, 24, body_pitch_rate);
  61         _mav_put_float(buf, 28, body_yaw_rate);
  62         _mav_put_float(buf, 32, thrust);
  63         _mav_put_uint8_t(buf, 36, type_mask);
  64         _mav_put_float_array(buf, 4, q, 4);
  65         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN);
  66 #else
  67         mavlink_attitude_target_t packet;
  68         packet.time_boot_ms = time_boot_ms;
  69         packet.body_roll_rate = body_roll_rate;
  70         packet.body_pitch_rate = body_pitch_rate;
  71         packet.body_yaw_rate = body_yaw_rate;
  72         packet.thrust = thrust;
  73         packet.type_mask = type_mask;
  74         mav_array_memcpy(packet.q, q, sizeof(float)*4);
  75         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN);
  76 #endif
  77
  78         msg->msgid = MAVLINK_MSG_ID_ATTITUDE_TARGET;
  79 #if MAVLINK_CRC_EXTRA
  80     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN, MAVLINK_MSG_ID_ATTITUDE_TARGET_CRC);
  81 #else
  82     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN);
  83 #endif
  84 }
  85
  86 /**
  87  * @brief Pack a attitude_target message on a channel
  88  * @param system_id ID of this system
  89  * @param component_id ID of this component (e.g. 200 for IMU)
  90  * @param chan The MAVLink channel this message will be sent over
  91  * @param msg The MAVLink message to compress the data into
  92  * @param time_boot_ms Timestamp in milliseconds since system boot
  93  * @param type_mask Mappings: If any of these bits are set, the corresponding input should be ignored: bit 1: body roll rate, bit 2: body pitch rate, bit 3: body yaw rate. bit 4-bit 7: reserved, bit 8: attitude
  94  * @param q Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
  95  * @param body_roll_rate Body roll rate in radians per second
  96  * @param body_pitch_rate Body roll rate in radians per second
  97  * @param body_yaw_rate Body roll rate in radians per second
  98  * @param thrust Collective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust)
  99  * @return length of the message in bytes (excluding serial stream start sign)
 100  */
 101 static inline uint16_t mavlink_msg_attitude_target_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 102                                                            mavlink_message_t* msg,
 103                                                            uint32_t time_boot_ms,uint8_t type_mask,const float *q,float body_roll_rate,float body_pitch_rate,float body_yaw_rate,float thrust)
 104 {
 105 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 106         char buf[MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN];
 107         _mav_put_uint32_t(buf, 0, time_boot_ms);
 108         _mav_put_float(buf, 20, body_roll_rate);
 109         _mav_put_float(buf, 24, body_pitch_rate);
 110         _mav_put_float(buf, 28, body_yaw_rate);
 111         _mav_put_float(buf, 32, thrust);
 112         _mav_put_uint8_t(buf, 36, type_mask);
 113         _mav_put_float_array(buf, 4, q, 4);
 114         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN);
 115 #else
 116         mavlink_attitude_target_t packet;
 117         packet.time_boot_ms = time_boot_ms;
 118         packet.body_roll_rate = body_roll_rate;
 119         packet.body_pitch_rate = body_pitch_rate;
 120         packet.body_yaw_rate = body_yaw_rate;
 121         packet.thrust = thrust;
 122         packet.type_mask = type_mask;
 123         mav_array_memcpy(packet.q, q, sizeof(float)*4);
 124         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN);
 125 #endif
 126
 127         msg->msgid = MAVLINK_MSG_ID_ATTITUDE_TARGET;
 128 #if MAVLINK_CRC_EXTRA
 129     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN, MAVLINK_MSG_ID_ATTITUDE_TARGET_CRC);
 130 #else
 131     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN);
 132 #endif
 133 }
 134
 135 /**
 136  * @brief Encode a attitude_target struct
 137  *
 138  * @param system_id ID of this system
 139  * @param component_id ID of this component (e.g. 200 for IMU)
 140  * @param msg The MAVLink message to compress the data into
 141  * @param attitude_target C-struct to read the message contents from
 142  */
 143 static inline uint16_t mavlink_msg_attitude_target_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_attitude_target_t* attitude_target)
 144 {
 145         return mavlink_msg_attitude_target_pack(system_id, component_id, msg, attitude_target->time_boot_ms, attitude_target->type_mask, attitude_target->q, attitude_target->body_roll_rate, attitude_target->body_pitch_rate, attitude_target->body_yaw_rate, attitude_target->thrust);
 146 }
 147
 148 /**
 149  * @brief Encode a attitude_target struct on a channel
 150  *
 151  * @param system_id ID of this system
 152  * @param component_id ID of this component (e.g. 200 for IMU)
 153  * @param chan The MAVLink channel this message will be sent over
 154  * @param msg The MAVLink message to compress the data into
 155  * @param attitude_target C-struct to read the message contents from
 156  */
 157 static inline uint16_t mavlink_msg_attitude_target_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_attitude_target_t* attitude_target)
 158 {
 159         return mavlink_msg_attitude_target_pack_chan(system_id, component_id, chan, msg, attitude_target->time_boot_ms, attitude_target->type_mask, attitude_target->q, attitude_target->body_roll_rate, attitude_target->body_pitch_rate, attitude_target->body_yaw_rate, attitude_target->thrust);
 160 }
 161
 162 /**
 163  * @brief Send a attitude_target message
 164  * @param chan MAVLink channel to send the message
 165  *
 166  * @param time_boot_ms Timestamp in milliseconds since system boot
 167  * @param type_mask Mappings: If any of these bits are set, the corresponding input should be ignored: bit 1: body roll rate, bit 2: body pitch rate, bit 3: body yaw rate. bit 4-bit 7: reserved, bit 8: attitude
 168  * @param q Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
 169  * @param body_roll_rate Body roll rate in radians per second
 170  * @param body_pitch_rate Body roll rate in radians per second
 171  * @param body_yaw_rate Body roll rate in radians per second
 172  * @param thrust Collective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust)
 173  */
 174 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 175
 176 static inline void mavlink_msg_attitude_target_send(mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t type_mask, const float *q, float body_roll_rate, float body_pitch_rate, float body_yaw_rate, float thrust)
 177 {
 178 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 179         char buf[MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN];
 180         _mav_put_uint32_t(buf, 0, time_boot_ms);
 181         _mav_put_float(buf, 20, body_roll_rate);
 182         _mav_put_float(buf, 24, body_pitch_rate);
 183         _mav_put_float(buf, 28, body_yaw_rate);
 184         _mav_put_float(buf, 32, thrust);
 185         _mav_put_uint8_t(buf, 36, type_mask);
 186         _mav_put_float_array(buf, 4, q, 4);
 187 #if MAVLINK_CRC_EXTRA
 188     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_TARGET, buf, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN, MAVLINK_MSG_ID_ATTITUDE_TARGET_CRC);
 189 #else
 190     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_TARGET, buf, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN);
 191 #endif
 192 #else
 193         mavlink_attitude_target_t packet;
 194         packet.time_boot_ms = time_boot_ms;
 195         packet.body_roll_rate = body_roll_rate;
 196         packet.body_pitch_rate = body_pitch_rate;
 197         packet.body_yaw_rate = body_yaw_rate;
 198         packet.thrust = thrust;
 199         packet.type_mask = type_mask;
 200         mav_array_memcpy(packet.q, q, sizeof(float)*4);
 201 #if MAVLINK_CRC_EXTRA
 202     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_TARGET, (const char *)&packet, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN, MAVLINK_MSG_ID_ATTITUDE_TARGET_CRC);
 203 #else
 204     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_TARGET, (const char *)&packet, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN);
 205 #endif
 206 #endif
 207 }
 208
 209 #if MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 210 /*
 211   This varient of _send() can be used to save stack space by re-using
 212   memory from the receive buffer.  The caller provides a
 213   mavlink_message_t which is the size of a full mavlink message. This
 214   is usually the receive buffer for the channel, and allows a reply to an
 215   incoming message with minimum stack space usage.
 216  */
 217 static inline void mavlink_msg_attitude_target_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint32_t time_boot_ms, uint8_t type_mask, const float *q, float body_roll_rate, float body_pitch_rate, float body_yaw_rate, float thrust)
 218 {
 219 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 220         char *buf = (char *)msgbuf;
 221         _mav_put_uint32_t(buf, 0, time_boot_ms);
 222         _mav_put_float(buf, 20, body_roll_rate);
 223         _mav_put_float(buf, 24, body_pitch_rate);
 224         _mav_put_float(buf, 28, body_yaw_rate);
 225         _mav_put_float(buf, 32, thrust);
 226         _mav_put_uint8_t(buf, 36, type_mask);
 227         _mav_put_float_array(buf, 4, q, 4);
 228 #if MAVLINK_CRC_EXTRA
 229     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_TARGET, buf, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN, MAVLINK_MSG_ID_ATTITUDE_TARGET_CRC);
 230 #else
 231     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_TARGET, buf, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN);
 232 #endif
 233 #else
 234         mavlink_attitude_target_t *packet = (mavlink_attitude_target_t *)msgbuf;
 235         packet->time_boot_ms = time_boot_ms;
 236         packet->body_roll_rate = body_roll_rate;
 237         packet->body_pitch_rate = body_pitch_rate;
 238         packet->body_yaw_rate = body_yaw_rate;
 239         packet->thrust = thrust;
 240         packet->type_mask = type_mask;
 241         mav_array_memcpy(packet->q, q, sizeof(float)*4);
 242 #if MAVLINK_CRC_EXTRA
 243     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_TARGET, (const char *)packet, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN, MAVLINK_MSG_ID_ATTITUDE_TARGET_CRC);
 244 #else
 245     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_TARGET, (const char *)packet, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN);
 246 #endif
 247 #endif
 248 }
 249 #endif
 250
 251 #endif
 252
 253 // MESSAGE ATTITUDE_TARGET UNPACKING
 254
 255
 256 /**
 257  * @brief Get field time_boot_ms from attitude_target message
 258  *
 259  * @return Timestamp in milliseconds since system boot
 260  */
 261 static inline uint32_t mavlink_msg_attitude_target_get_time_boot_ms(const mavlink_message_t* msg)
 262 {
 263         return _MAV_RETURN_uint32_t(msg,  0);
 264 }
 265
 266 /**
 267  * @brief Get field type_mask from attitude_target message
 268  *
 269  * @return Mappings: If any of these bits are set, the corresponding input should be ignored: bit 1: body roll rate, bit 2: body pitch rate, bit 3: body yaw rate. bit 4-bit 7: reserved, bit 8: attitude
 270  */
 271 static inline uint8_t mavlink_msg_attitude_target_get_type_mask(const mavlink_message_t* msg)
 272 {
 273         return _MAV_RETURN_uint8_t(msg,  36);
 274 }
 275
 276 /**
 277  * @brief Get field q from attitude_target message
 278  *
 279  * @return Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
 280  */
 281 static inline uint16_t mavlink_msg_attitude_target_get_q(const mavlink_message_t* msg, float *q)
 282 {
 283         return _MAV_RETURN_float_array(msg, q, 4,  4);
 284 }
 285
 286 /**
 287  * @brief Get field body_roll_rate from attitude_target message
 288  *
 289  * @return Body roll rate in radians per second
 290  */
 291 static inline float mavlink_msg_attitude_target_get_body_roll_rate(const mavlink_message_t* msg)
 292 {
 293         return _MAV_RETURN_float(msg,  20);
 294 }
 295
 296 /**
 297  * @brief Get field body_pitch_rate from attitude_target message
 298  *
 299  * @return Body roll rate in radians per second
 300  */
 301 static inline float mavlink_msg_attitude_target_get_body_pitch_rate(const mavlink_message_t* msg)
 302 {
 303         return _MAV_RETURN_float(msg,  24);
 304 }
 305
 306 /**
 307  * @brief Get field body_yaw_rate from attitude_target message
 308  *
 309  * @return Body roll rate in radians per second
 310  */
 311 static inline float mavlink_msg_attitude_target_get_body_yaw_rate(const mavlink_message_t* msg)
 312 {
 313         return _MAV_RETURN_float(msg,  28);
 314 }
 315
 316 /**
 317  * @brief Get field thrust from attitude_target message
 318  *
 319  * @return Collective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust)
 320  */
 321 static inline float mavlink_msg_attitude_target_get_thrust(const mavlink_message_t* msg)
 322 {
 323         return _MAV_RETURN_float(msg,  32);
 324 }
 325
 326 /**
 327  * @brief Decode a attitude_target message into a struct
 328  *
 329  * @param msg The message to decode
 330  * @param attitude_target C-struct to decode the message contents into
 331  */
 332 static inline void mavlink_msg_attitude_target_decode(const mavlink_message_t* msg, mavlink_attitude_target_t* attitude_target)
 333 {
 334 #if MAVLINK_NEED_BYTE_SWAP
 335         attitude_target->time_boot_ms = mavlink_msg_attitude_target_get_time_boot_ms(msg);
 336         mavlink_msg_attitude_target_get_q(msg, attitude_target->q);
 337         attitude_target->body_roll_rate = mavlink_msg_attitude_target_get_body_roll_rate(msg);
 338         attitude_target->body_pitch_rate = mavlink_msg_attitude_target_get_body_pitch_rate(msg);
 339         attitude_target->body_yaw_rate = mavlink_msg_attitude_target_get_body_yaw_rate(msg);
 340         attitude_target->thrust = mavlink_msg_attitude_target_get_thrust(msg);
 341         attitude_target->type_mask = mavlink_msg_attitude_target_get_type_mask(msg);
 342 #else
 343         memcpy(attitude_target, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN);
 344 #endif
 345 }