lib/main/MAVLink/common/mavlink_msg_command_long.h

   1 // MESSAGE COMMAND_LONG PACKING
   2
   3 #define MAVLINK_MSG_ID_COMMAND_LONG 76
   4
   5 typedef struct __mavlink_command_long_t
   6 {
   7  float param1; ///< Parameter 1, as defined by MAV_CMD enum.
   8  float param2; ///< Parameter 2, as defined by MAV_CMD enum.
   9  float param3; ///< Parameter 3, as defined by MAV_CMD enum.
  10  float param4; ///< Parameter 4, as defined by MAV_CMD enum.
  11  float param5; ///< Parameter 5, as defined by MAV_CMD enum.
  12  float param6; ///< Parameter 6, as defined by MAV_CMD enum.
  13  float param7; ///< Parameter 7, as defined by MAV_CMD enum.
  14  uint16_t command; ///< Command ID, as defined by MAV_CMD enum.
  15  uint8_t target_system; ///< System which should execute the command
  16  uint8_t target_component; ///< Component which should execute the command, 0 for all components
  17  uint8_t confirmation; ///< 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
  18 } mavlink_command_long_t;
  19
  20 #define MAVLINK_MSG_ID_COMMAND_LONG_LEN 33
  21 #define MAVLINK_MSG_ID_76_LEN 33
  22
  23 #define MAVLINK_MSG_ID_COMMAND_LONG_CRC 152
  24 #define MAVLINK_MSG_ID_76_CRC 152
  25
  26
  27
  28 #define MAVLINK_MESSAGE_INFO_COMMAND_LONG { \
  29         "COMMAND_LONG", \
  30         11, \
  31         {  { "param1", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_command_long_t, param1) }, \
  32          { "param2", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_command_long_t, param2) }, \
  33          { "param3", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_command_long_t, param3) }, \
  34          { "param4", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_command_long_t, param4) }, \
  35          { "param5", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_command_long_t, param5) }, \
  36          { "param6", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_command_long_t, param6) }, \
  37          { "param7", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_command_long_t, param7) }, \
  38          { "command", NULL, MAVLINK_TYPE_UINT16_T, 0, 28, offsetof(mavlink_command_long_t, command) }, \
  39          { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 30, offsetof(mavlink_command_long_t, target_system) }, \
  40          { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 31, offsetof(mavlink_command_long_t, target_component) }, \
  41          { "confirmation", NULL, MAVLINK_TYPE_UINT8_T, 0, 32, offsetof(mavlink_command_long_t, confirmation) }, \
  42          } \
  43 }
  44
  45
  46 /**
  47  * @brief Pack a command_long message
  48  * @param system_id ID of this system
  49  * @param component_id ID of this component (e.g. 200 for IMU)
  50  * @param msg The MAVLink message to compress the data into
  51  *
  52  * @param target_system System which should execute the command
  53  * @param target_component Component which should execute the command, 0 for all components
  54  * @param command Command ID, as defined by MAV_CMD enum.
  55  * @param confirmation 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
  56  * @param param1 Parameter 1, as defined by MAV_CMD enum.
  57  * @param param2 Parameter 2, as defined by MAV_CMD enum.
  58  * @param param3 Parameter 3, as defined by MAV_CMD enum.
  59  * @param param4 Parameter 4, as defined by MAV_CMD enum.
  60  * @param param5 Parameter 5, as defined by MAV_CMD enum.
  61  * @param param6 Parameter 6, as defined by MAV_CMD enum.
  62  * @param param7 Parameter 7, as defined by MAV_CMD enum.
  63  * @return length of the message in bytes (excluding serial stream start sign)
  64  */
  65 static inline uint16_t mavlink_msg_command_long_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  66                                                        uint8_t target_system, uint8_t target_component, uint16_t command, uint8_t confirmation, float param1, float param2, float param3, float param4, float param5, float param6, float param7)
  67 {
  68 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  69         char buf[MAVLINK_MSG_ID_COMMAND_LONG_LEN];
  70         _mav_put_float(buf, 0, param1);
  71         _mav_put_float(buf, 4, param2);
  72         _mav_put_float(buf, 8, param3);
  73         _mav_put_float(buf, 12, param4);
  74         _mav_put_float(buf, 16, param5);
  75         _mav_put_float(buf, 20, param6);
  76         _mav_put_float(buf, 24, param7);
  77         _mav_put_uint16_t(buf, 28, command);
  78         _mav_put_uint8_t(buf, 30, target_system);
  79         _mav_put_uint8_t(buf, 31, target_component);
  80         _mav_put_uint8_t(buf, 32, confirmation);
  81
  82         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_COMMAND_LONG_LEN);
  83 #else
  84         mavlink_command_long_t packet;
  85         packet.param1 = param1;
  86         packet.param2 = param2;
  87         packet.param3 = param3;
  88         packet.param4 = param4;
  89         packet.param5 = param5;
  90         packet.param6 = param6;
  91         packet.param7 = param7;
  92         packet.command = command;
  93         packet.target_system = target_system;
  94         packet.target_component = target_component;
  95         packet.confirmation = confirmation;
  96
  97         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_COMMAND_LONG_LEN);
  98 #endif
  99
 100         msg->msgid = MAVLINK_MSG_ID_COMMAND_LONG;
 101 #if MAVLINK_CRC_EXTRA
 102     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_COMMAND_LONG_LEN, MAVLINK_MSG_ID_COMMAND_LONG_CRC);
 103 #else
 104     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_COMMAND_LONG_LEN);
 105 #endif
 106 }
 107
 108 /**
 109  * @brief Pack a command_long message on a channel
 110  * @param system_id ID of this system
 111  * @param component_id ID of this component (e.g. 200 for IMU)
 112  * @param chan The MAVLink channel this message will be sent over
 113  * @param msg The MAVLink message to compress the data into
 114  * @param target_system System which should execute the command
 115  * @param target_component Component which should execute the command, 0 for all components
 116  * @param command Command ID, as defined by MAV_CMD enum.
 117  * @param confirmation 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
 118  * @param param1 Parameter 1, as defined by MAV_CMD enum.
 119  * @param param2 Parameter 2, as defined by MAV_CMD enum.
 120  * @param param3 Parameter 3, as defined by MAV_CMD enum.
 121  * @param param4 Parameter 4, as defined by MAV_CMD enum.
 122  * @param param5 Parameter 5, as defined by MAV_CMD enum.
 123  * @param param6 Parameter 6, as defined by MAV_CMD enum.
 124  * @param param7 Parameter 7, as defined by MAV_CMD enum.
 125  * @return length of the message in bytes (excluding serial stream start sign)
 126  */
 127 static inline uint16_t mavlink_msg_command_long_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 128                                                            mavlink_message_t* msg,
 129                                                            uint8_t target_system,uint8_t target_component,uint16_t command,uint8_t confirmation,float param1,float param2,float param3,float param4,float param5,float param6,float param7)
 130 {
 131 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 132         char buf[MAVLINK_MSG_ID_COMMAND_LONG_LEN];
 133         _mav_put_float(buf, 0, param1);
 134         _mav_put_float(buf, 4, param2);
 135         _mav_put_float(buf, 8, param3);
 136         _mav_put_float(buf, 12, param4);
 137         _mav_put_float(buf, 16, param5);
 138         _mav_put_float(buf, 20, param6);
 139         _mav_put_float(buf, 24, param7);
 140         _mav_put_uint16_t(buf, 28, command);
 141         _mav_put_uint8_t(buf, 30, target_system);
 142         _mav_put_uint8_t(buf, 31, target_component);
 143         _mav_put_uint8_t(buf, 32, confirmation);
 144
 145         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_COMMAND_LONG_LEN);
 146 #else
 147         mavlink_command_long_t packet;
 148         packet.param1 = param1;
 149         packet.param2 = param2;
 150         packet.param3 = param3;
 151         packet.param4 = param4;
 152         packet.param5 = param5;
 153         packet.param6 = param6;
 154         packet.param7 = param7;
 155         packet.command = command;
 156         packet.target_system = target_system;
 157         packet.target_component = target_component;
 158         packet.confirmation = confirmation;
 159
 160         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_COMMAND_LONG_LEN);
 161 #endif
 162
 163         msg->msgid = MAVLINK_MSG_ID_COMMAND_LONG;
 164 #if MAVLINK_CRC_EXTRA
 165     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_COMMAND_LONG_LEN, MAVLINK_MSG_ID_COMMAND_LONG_CRC);
 166 #else
 167     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_COMMAND_LONG_LEN);
 168 #endif
 169 }
 170
 171 /**
 172  * @brief Encode a command_long struct
 173  *
 174  * @param system_id ID of this system
 175  * @param component_id ID of this component (e.g. 200 for IMU)
 176  * @param msg The MAVLink message to compress the data into
 177  * @param command_long C-struct to read the message contents from
 178  */
 179 static inline uint16_t mavlink_msg_command_long_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_command_long_t* command_long)
 180 {
 181         return mavlink_msg_command_long_pack(system_id, component_id, msg, command_long->target_system, command_long->target_component, command_long->command, command_long->confirmation, command_long->param1, command_long->param2, command_long->param3, command_long->param4, command_long->param5, command_long->param6, command_long->param7);
 182 }
 183
 184 /**
 185  * @brief Encode a command_long struct on a channel
 186  *
 187  * @param system_id ID of this system
 188  * @param component_id ID of this component (e.g. 200 for IMU)
 189  * @param chan The MAVLink channel this message will be sent over
 190  * @param msg The MAVLink message to compress the data into
 191  * @param command_long C-struct to read the message contents from
 192  */
 193 static inline uint16_t mavlink_msg_command_long_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_command_long_t* command_long)
 194 {
 195         return mavlink_msg_command_long_pack_chan(system_id, component_id, chan, msg, command_long->target_system, command_long->target_component, command_long->command, command_long->confirmation, command_long->param1, command_long->param2, command_long->param3, command_long->param4, command_long->param5, command_long->param6, command_long->param7);
 196 }
 197
 198 /**
 199  * @brief Send a command_long message
 200  * @param chan MAVLink channel to send the message
 201  *
 202  * @param target_system System which should execute the command
 203  * @param target_component Component which should execute the command, 0 for all components
 204  * @param command Command ID, as defined by MAV_CMD enum.
 205  * @param confirmation 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
 206  * @param param1 Parameter 1, as defined by MAV_CMD enum.
 207  * @param param2 Parameter 2, as defined by MAV_CMD enum.
 208  * @param param3 Parameter 3, as defined by MAV_CMD enum.
 209  * @param param4 Parameter 4, as defined by MAV_CMD enum.
 210  * @param param5 Parameter 5, as defined by MAV_CMD enum.
 211  * @param param6 Parameter 6, as defined by MAV_CMD enum.
 212  * @param param7 Parameter 7, as defined by MAV_CMD enum.
 213  */
 214 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 215
 216 static inline void mavlink_msg_command_long_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t command, uint8_t confirmation, float param1, float param2, float param3, float param4, float param5, float param6, float param7)
 217 {
 218 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 219         char buf[MAVLINK_MSG_ID_COMMAND_LONG_LEN];
 220         _mav_put_float(buf, 0, param1);
 221         _mav_put_float(buf, 4, param2);
 222         _mav_put_float(buf, 8, param3);
 223         _mav_put_float(buf, 12, param4);
 224         _mav_put_float(buf, 16, param5);
 225         _mav_put_float(buf, 20, param6);
 226         _mav_put_float(buf, 24, param7);
 227         _mav_put_uint16_t(buf, 28, command);
 228         _mav_put_uint8_t(buf, 30, target_system);
 229         _mav_put_uint8_t(buf, 31, target_component);
 230         _mav_put_uint8_t(buf, 32, confirmation);
 231
 232 #if MAVLINK_CRC_EXTRA
 233     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_LONG, buf, MAVLINK_MSG_ID_COMMAND_LONG_LEN, MAVLINK_MSG_ID_COMMAND_LONG_CRC);
 234 #else
 235     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_LONG, buf, MAVLINK_MSG_ID_COMMAND_LONG_LEN);
 236 #endif
 237 #else
 238         mavlink_command_long_t packet;
 239         packet.param1 = param1;
 240         packet.param2 = param2;
 241         packet.param3 = param3;
 242         packet.param4 = param4;
 243         packet.param5 = param5;
 244         packet.param6 = param6;
 245         packet.param7 = param7;
 246         packet.command = command;
 247         packet.target_system = target_system;
 248         packet.target_component = target_component;
 249         packet.confirmation = confirmation;
 250
 251 #if MAVLINK_CRC_EXTRA
 252     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_LONG, (const char *)&packet, MAVLINK_MSG_ID_COMMAND_LONG_LEN, MAVLINK_MSG_ID_COMMAND_LONG_CRC);
 253 #else
 254     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_LONG, (const char *)&packet, MAVLINK_MSG_ID_COMMAND_LONG_LEN);
 255 #endif
 256 #endif
 257 }
 258
 259 #if MAVLINK_MSG_ID_COMMAND_LONG_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 260 /*
 261   This varient of _send() can be used to save stack space by re-using
 262   memory from the receive buffer.  The caller provides a
 263   mavlink_message_t which is the size of a full mavlink message. This
 264   is usually the receive buffer for the channel, and allows a reply to an
 265   incoming message with minimum stack space usage.
 266  */
 267 static inline void mavlink_msg_command_long_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint8_t target_system, uint8_t target_component, uint16_t command, uint8_t confirmation, float param1, float param2, float param3, float param4, float param5, float param6, float param7)
 268 {
 269 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 270         char *buf = (char *)msgbuf;
 271         _mav_put_float(buf, 0, param1);
 272         _mav_put_float(buf, 4, param2);
 273         _mav_put_float(buf, 8, param3);
 274         _mav_put_float(buf, 12, param4);
 275         _mav_put_float(buf, 16, param5);
 276         _mav_put_float(buf, 20, param6);
 277         _mav_put_float(buf, 24, param7);
 278         _mav_put_uint16_t(buf, 28, command);
 279         _mav_put_uint8_t(buf, 30, target_system);
 280         _mav_put_uint8_t(buf, 31, target_component);
 281         _mav_put_uint8_t(buf, 32, confirmation);
 282
 283 #if MAVLINK_CRC_EXTRA
 284     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_LONG, buf, MAVLINK_MSG_ID_COMMAND_LONG_LEN, MAVLINK_MSG_ID_COMMAND_LONG_CRC);
 285 #else
 286     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_LONG, buf, MAVLINK_MSG_ID_COMMAND_LONG_LEN);
 287 #endif
 288 #else
 289         mavlink_command_long_t *packet = (mavlink_command_long_t *)msgbuf;
 290         packet->param1 = param1;
 291         packet->param2 = param2;
 292         packet->param3 = param3;
 293         packet->param4 = param4;
 294         packet->param5 = param5;
 295         packet->param6 = param6;
 296         packet->param7 = param7;
 297         packet->command = command;
 298         packet->target_system = target_system;
 299         packet->target_component = target_component;
 300         packet->confirmation = confirmation;
 301
 302 #if MAVLINK_CRC_EXTRA
 303     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_LONG, (const char *)packet, MAVLINK_MSG_ID_COMMAND_LONG_LEN, MAVLINK_MSG_ID_COMMAND_LONG_CRC);
 304 #else
 305     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_LONG, (const char *)packet, MAVLINK_MSG_ID_COMMAND_LONG_LEN);
 306 #endif
 307 #endif
 308 }
 309 #endif
 310
 311 #endif
 312
 313 // MESSAGE COMMAND_LONG UNPACKING
 314
 315
 316 /**
 317  * @brief Get field target_system from command_long message
 318  *
 319  * @return System which should execute the command
 320  */
 321 static inline uint8_t mavlink_msg_command_long_get_target_system(const mavlink_message_t* msg)
 322 {
 323         return _MAV_RETURN_uint8_t(msg,  30);
 324 }
 325
 326 /**
 327  * @brief Get field target_component from command_long message
 328  *
 329  * @return Component which should execute the command, 0 for all components
 330  */
 331 static inline uint8_t mavlink_msg_command_long_get_target_component(const mavlink_message_t* msg)
 332 {
 333         return _MAV_RETURN_uint8_t(msg,  31);
 334 }
 335
 336 /**
 337  * @brief Get field command from command_long message
 338  *
 339  * @return Command ID, as defined by MAV_CMD enum.
 340  */
 341 static inline uint16_t mavlink_msg_command_long_get_command(const mavlink_message_t* msg)
 342 {
 343         return _MAV_RETURN_uint16_t(msg,  28);
 344 }
 345
 346 /**
 347  * @brief Get field confirmation from command_long message
 348  *
 349  * @return 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
 350  */
 351 static inline uint8_t mavlink_msg_command_long_get_confirmation(const mavlink_message_t* msg)
 352 {
 353         return _MAV_RETURN_uint8_t(msg,  32);
 354 }
 355
 356 /**
 357  * @brief Get field param1 from command_long message
 358  *
 359  * @return Parameter 1, as defined by MAV_CMD enum.
 360  */
 361 static inline float mavlink_msg_command_long_get_param1(const mavlink_message_t* msg)
 362 {
 363         return _MAV_RETURN_float(msg,  0);
 364 }
 365
 366 /**
 367  * @brief Get field param2 from command_long message
 368  *
 369  * @return Parameter 2, as defined by MAV_CMD enum.
 370  */
 371 static inline float mavlink_msg_command_long_get_param2(const mavlink_message_t* msg)
 372 {
 373         return _MAV_RETURN_float(msg,  4);
 374 }
 375
 376 /**
 377  * @brief Get field param3 from command_long message
 378  *
 379  * @return Parameter 3, as defined by MAV_CMD enum.
 380  */
 381 static inline float mavlink_msg_command_long_get_param3(const mavlink_message_t* msg)
 382 {
 383         return _MAV_RETURN_float(msg,  8);
 384 }
 385
 386 /**
 387  * @brief Get field param4 from command_long message
 388  *
 389  * @return Parameter 4, as defined by MAV_CMD enum.
 390  */
 391 static inline float mavlink_msg_command_long_get_param4(const mavlink_message_t* msg)
 392 {
 393         return _MAV_RETURN_float(msg,  12);
 394 }
 395
 396 /**
 397  * @brief Get field param5 from command_long message
 398  *
 399  * @return Parameter 5, as defined by MAV_CMD enum.
 400  */
 401 static inline float mavlink_msg_command_long_get_param5(const mavlink_message_t* msg)
 402 {
 403         return _MAV_RETURN_float(msg,  16);
 404 }
 405
 406 /**
 407  * @brief Get field param6 from command_long message
 408  *
 409  * @return Parameter 6, as defined by MAV_CMD enum.
 410  */
 411 static inline float mavlink_msg_command_long_get_param6(const mavlink_message_t* msg)
 412 {
 413         return _MAV_RETURN_float(msg,  20);
 414 }
 415
 416 /**
 417  * @brief Get field param7 from command_long message
 418  *
 419  * @return Parameter 7, as defined by MAV_CMD enum.
 420  */
 421 static inline float mavlink_msg_command_long_get_param7(const mavlink_message_t* msg)
 422 {
 423         return _MAV_RETURN_float(msg,  24);
 424 }
 425
 426 /**
 427  * @brief Decode a command_long message into a struct
 428  *
 429  * @param msg The message to decode
 430  * @param command_long C-struct to decode the message contents into
 431  */
 432 static inline void mavlink_msg_command_long_decode(const mavlink_message_t* msg, mavlink_command_long_t* command_long)
 433 {
 434 #if MAVLINK_NEED_BYTE_SWAP
 435         command_long->param1 = mavlink_msg_command_long_get_param1(msg);
 436         command_long->param2 = mavlink_msg_command_long_get_param2(msg);
 437         command_long->param3 = mavlink_msg_command_long_get_param3(msg);
 438         command_long->param4 = mavlink_msg_command_long_get_param4(msg);
 439         command_long->param5 = mavlink_msg_command_long_get_param5(msg);
 440         command_long->param6 = mavlink_msg_command_long_get_param6(msg);
 441         command_long->param7 = mavlink_msg_command_long_get_param7(msg);
 442         command_long->command = mavlink_msg_command_long_get_command(msg);
 443         command_long->target_system = mavlink_msg_command_long_get_target_system(msg);
 444         command_long->target_component = mavlink_msg_command_long_get_target_component(msg);
 445         command_long->confirmation = mavlink_msg_command_long_get_confirmation(msg);
 446 #else
 447         memcpy(command_long, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_COMMAND_LONG_LEN);
 448 #endif
 449 }