lib/main/MAVLink/common/mavlink_msg_distance_sensor.h

   1 // MESSAGE DISTANCE_SENSOR PACKING
   2
   3 #define MAVLINK_MSG_ID_DISTANCE_SENSOR 132
   4
   5 typedef struct __mavlink_distance_sensor_t
   6 {
   7  uint32_t time_boot_ms; ///< Time since system boot
   8  uint16_t min_distance; ///< Minimum distance the sensor can measure in centimeters
   9  uint16_t max_distance; ///< Maximum distance the sensor can measure in centimeters
  10  uint16_t current_distance; ///< Current distance reading
  11  uint8_t type; ///< Type from MAV_DISTANCE_SENSOR enum.
  12  uint8_t id; ///< Onboard ID of the sensor
  13  uint8_t orientation; ///< Direction the sensor faces from FIXME enum.
  14  uint8_t covariance; ///< Measurement covariance in centimeters, 0 for unknown / invalid readings
  15 } mavlink_distance_sensor_t;
  16
  17 #define MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN 14
  18 #define MAVLINK_MSG_ID_132_LEN 14
  19
  20 #define MAVLINK_MSG_ID_DISTANCE_SENSOR_CRC 85
  21 #define MAVLINK_MSG_ID_132_CRC 85
  22
  23
  24
  25 #define MAVLINK_MESSAGE_INFO_DISTANCE_SENSOR { \
  26         "DISTANCE_SENSOR", \
  27         8, \
  28         {  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_distance_sensor_t, time_boot_ms) }, \
  29          { "min_distance", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_distance_sensor_t, min_distance) }, \
  30          { "max_distance", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_distance_sensor_t, max_distance) }, \
  31          { "current_distance", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_distance_sensor_t, current_distance) }, \
  32          { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 10, offsetof(mavlink_distance_sensor_t, type) }, \
  33          { "id", NULL, MAVLINK_TYPE_UINT8_T, 0, 11, offsetof(mavlink_distance_sensor_t, id) }, \
  34          { "orientation", NULL, MAVLINK_TYPE_UINT8_T, 0, 12, offsetof(mavlink_distance_sensor_t, orientation) }, \
  35          { "covariance", NULL, MAVLINK_TYPE_UINT8_T, 0, 13, offsetof(mavlink_distance_sensor_t, covariance) }, \
  36          } \
  37 }
  38
  39
  40 /**
  41  * @brief Pack a distance_sensor message
  42  * @param system_id ID of this system
  43  * @param component_id ID of this component (e.g. 200 for IMU)
  44  * @param msg The MAVLink message to compress the data into
  45  *
  46  * @param time_boot_ms Time since system boot
  47  * @param min_distance Minimum distance the sensor can measure in centimeters
  48  * @param max_distance Maximum distance the sensor can measure in centimeters
  49  * @param current_distance Current distance reading
  50  * @param type Type from MAV_DISTANCE_SENSOR enum.
  51  * @param id Onboard ID of the sensor
  52  * @param orientation Direction the sensor faces from FIXME enum.
  53  * @param covariance Measurement covariance in centimeters, 0 for unknown / invalid readings
  54  * @return length of the message in bytes (excluding serial stream start sign)
  55  */
  56 static inline uint16_t mavlink_msg_distance_sensor_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  57                                                        uint32_t time_boot_ms, uint16_t min_distance, uint16_t max_distance, uint16_t current_distance, uint8_t type, uint8_t id, uint8_t orientation, uint8_t covariance)
  58 {
  59 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  60         char buf[MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN];
  61         _mav_put_uint32_t(buf, 0, time_boot_ms);
  62         _mav_put_uint16_t(buf, 4, min_distance);
  63         _mav_put_uint16_t(buf, 6, max_distance);
  64         _mav_put_uint16_t(buf, 8, current_distance);
  65         _mav_put_uint8_t(buf, 10, type);
  66         _mav_put_uint8_t(buf, 11, id);
  67         _mav_put_uint8_t(buf, 12, orientation);
  68         _mav_put_uint8_t(buf, 13, covariance);
  69
  70         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN);
  71 #else
  72         mavlink_distance_sensor_t packet;
  73         packet.time_boot_ms = time_boot_ms;
  74         packet.min_distance = min_distance;
  75         packet.max_distance = max_distance;
  76         packet.current_distance = current_distance;
  77         packet.type = type;
  78         packet.id = id;
  79         packet.orientation = orientation;
  80         packet.covariance = covariance;
  81
  82         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN);
  83 #endif
  84
  85         msg->msgid = MAVLINK_MSG_ID_DISTANCE_SENSOR;
  86 #if MAVLINK_CRC_EXTRA
  87     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN, MAVLINK_MSG_ID_DISTANCE_SENSOR_CRC);
  88 #else
  89     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN);
  90 #endif
  91 }
  92
  93 /**
  94  * @brief Pack a distance_sensor message on a channel
  95  * @param system_id ID of this system
  96  * @param component_id ID of this component (e.g. 200 for IMU)
  97  * @param chan The MAVLink channel this message will be sent over
  98  * @param msg The MAVLink message to compress the data into
  99  * @param time_boot_ms Time since system boot
 100  * @param min_distance Minimum distance the sensor can measure in centimeters
 101  * @param max_distance Maximum distance the sensor can measure in centimeters
 102  * @param current_distance Current distance reading
 103  * @param type Type from MAV_DISTANCE_SENSOR enum.
 104  * @param id Onboard ID of the sensor
 105  * @param orientation Direction the sensor faces from FIXME enum.
 106  * @param covariance Measurement covariance in centimeters, 0 for unknown / invalid readings
 107  * @return length of the message in bytes (excluding serial stream start sign)
 108  */
 109 static inline uint16_t mavlink_msg_distance_sensor_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 110                                                            mavlink_message_t* msg,
 111                                                            uint32_t time_boot_ms,uint16_t min_distance,uint16_t max_distance,uint16_t current_distance,uint8_t type,uint8_t id,uint8_t orientation,uint8_t covariance)
 112 {
 113 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 114         char buf[MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN];
 115         _mav_put_uint32_t(buf, 0, time_boot_ms);
 116         _mav_put_uint16_t(buf, 4, min_distance);
 117         _mav_put_uint16_t(buf, 6, max_distance);
 118         _mav_put_uint16_t(buf, 8, current_distance);
 119         _mav_put_uint8_t(buf, 10, type);
 120         _mav_put_uint8_t(buf, 11, id);
 121         _mav_put_uint8_t(buf, 12, orientation);
 122         _mav_put_uint8_t(buf, 13, covariance);
 123
 124         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN);
 125 #else
 126         mavlink_distance_sensor_t packet;
 127         packet.time_boot_ms = time_boot_ms;
 128         packet.min_distance = min_distance;
 129         packet.max_distance = max_distance;
 130         packet.current_distance = current_distance;
 131         packet.type = type;
 132         packet.id = id;
 133         packet.orientation = orientation;
 134         packet.covariance = covariance;
 135
 136         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN);
 137 #endif
 138
 139         msg->msgid = MAVLINK_MSG_ID_DISTANCE_SENSOR;
 140 #if MAVLINK_CRC_EXTRA
 141     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN, MAVLINK_MSG_ID_DISTANCE_SENSOR_CRC);
 142 #else
 143     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN);
 144 #endif
 145 }
 146
 147 /**
 148  * @brief Encode a distance_sensor struct
 149  *
 150  * @param system_id ID of this system
 151  * @param component_id ID of this component (e.g. 200 for IMU)
 152  * @param msg The MAVLink message to compress the data into
 153  * @param distance_sensor C-struct to read the message contents from
 154  */
 155 static inline uint16_t mavlink_msg_distance_sensor_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_distance_sensor_t* distance_sensor)
 156 {
 157         return mavlink_msg_distance_sensor_pack(system_id, component_id, msg, distance_sensor->time_boot_ms, distance_sensor->min_distance, distance_sensor->max_distance, distance_sensor->current_distance, distance_sensor->type, distance_sensor->id, distance_sensor->orientation, distance_sensor->covariance);
 158 }
 159
 160 /**
 161  * @brief Encode a distance_sensor struct on a channel
 162  *
 163  * @param system_id ID of this system
 164  * @param component_id ID of this component (e.g. 200 for IMU)
 165  * @param chan The MAVLink channel this message will be sent over
 166  * @param msg The MAVLink message to compress the data into
 167  * @param distance_sensor C-struct to read the message contents from
 168  */
 169 static inline uint16_t mavlink_msg_distance_sensor_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_distance_sensor_t* distance_sensor)
 170 {
 171         return mavlink_msg_distance_sensor_pack_chan(system_id, component_id, chan, msg, distance_sensor->time_boot_ms, distance_sensor->min_distance, distance_sensor->max_distance, distance_sensor->current_distance, distance_sensor->type, distance_sensor->id, distance_sensor->orientation, distance_sensor->covariance);
 172 }
 173
 174 /**
 175  * @brief Send a distance_sensor message
 176  * @param chan MAVLink channel to send the message
 177  *
 178  * @param time_boot_ms Time since system boot
 179  * @param min_distance Minimum distance the sensor can measure in centimeters
 180  * @param max_distance Maximum distance the sensor can measure in centimeters
 181  * @param current_distance Current distance reading
 182  * @param type Type from MAV_DISTANCE_SENSOR enum.
 183  * @param id Onboard ID of the sensor
 184  * @param orientation Direction the sensor faces from FIXME enum.
 185  * @param covariance Measurement covariance in centimeters, 0 for unknown / invalid readings
 186  */
 187 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 188
 189 static inline void mavlink_msg_distance_sensor_send(mavlink_channel_t chan, uint32_t time_boot_ms, uint16_t min_distance, uint16_t max_distance, uint16_t current_distance, uint8_t type, uint8_t id, uint8_t orientation, uint8_t covariance)
 190 {
 191 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 192         char buf[MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN];
 193         _mav_put_uint32_t(buf, 0, time_boot_ms);
 194         _mav_put_uint16_t(buf, 4, min_distance);
 195         _mav_put_uint16_t(buf, 6, max_distance);
 196         _mav_put_uint16_t(buf, 8, current_distance);
 197         _mav_put_uint8_t(buf, 10, type);
 198         _mav_put_uint8_t(buf, 11, id);
 199         _mav_put_uint8_t(buf, 12, orientation);
 200         _mav_put_uint8_t(buf, 13, covariance);
 201
 202 #if MAVLINK_CRC_EXTRA
 203     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DISTANCE_SENSOR, buf, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN, MAVLINK_MSG_ID_DISTANCE_SENSOR_CRC);
 204 #else
 205     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DISTANCE_SENSOR, buf, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN);
 206 #endif
 207 #else
 208         mavlink_distance_sensor_t packet;
 209         packet.time_boot_ms = time_boot_ms;
 210         packet.min_distance = min_distance;
 211         packet.max_distance = max_distance;
 212         packet.current_distance = current_distance;
 213         packet.type = type;
 214         packet.id = id;
 215         packet.orientation = orientation;
 216         packet.covariance = covariance;
 217
 218 #if MAVLINK_CRC_EXTRA
 219     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DISTANCE_SENSOR, (const char *)&packet, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN, MAVLINK_MSG_ID_DISTANCE_SENSOR_CRC);
 220 #else
 221     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DISTANCE_SENSOR, (const char *)&packet, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN);
 222 #endif
 223 #endif
 224 }
 225
 226 #if MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 227 /*
 228   This varient of _send() can be used to save stack space by re-using
 229   memory from the receive buffer.  The caller provides a
 230   mavlink_message_t which is the size of a full mavlink message. This
 231   is usually the receive buffer for the channel, and allows a reply to an
 232   incoming message with minimum stack space usage.
 233  */
 234 static inline void mavlink_msg_distance_sensor_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint32_t time_boot_ms, uint16_t min_distance, uint16_t max_distance, uint16_t current_distance, uint8_t type, uint8_t id, uint8_t orientation, uint8_t covariance)
 235 {
 236 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 237         char *buf = (char *)msgbuf;
 238         _mav_put_uint32_t(buf, 0, time_boot_ms);
 239         _mav_put_uint16_t(buf, 4, min_distance);
 240         _mav_put_uint16_t(buf, 6, max_distance);
 241         _mav_put_uint16_t(buf, 8, current_distance);
 242         _mav_put_uint8_t(buf, 10, type);
 243         _mav_put_uint8_t(buf, 11, id);
 244         _mav_put_uint8_t(buf, 12, orientation);
 245         _mav_put_uint8_t(buf, 13, covariance);
 246
 247 #if MAVLINK_CRC_EXTRA
 248     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DISTANCE_SENSOR, buf, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN, MAVLINK_MSG_ID_DISTANCE_SENSOR_CRC);
 249 #else
 250     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DISTANCE_SENSOR, buf, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN);
 251 #endif
 252 #else
 253         mavlink_distance_sensor_t *packet = (mavlink_distance_sensor_t *)msgbuf;
 254         packet->time_boot_ms = time_boot_ms;
 255         packet->min_distance = min_distance;
 256         packet->max_distance = max_distance;
 257         packet->current_distance = current_distance;
 258         packet->type = type;
 259         packet->id = id;
 260         packet->orientation = orientation;
 261         packet->covariance = covariance;
 262
 263 #if MAVLINK_CRC_EXTRA
 264     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DISTANCE_SENSOR, (const char *)packet, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN, MAVLINK_MSG_ID_DISTANCE_SENSOR_CRC);
 265 #else
 266     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DISTANCE_SENSOR, (const char *)packet, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN);
 267 #endif
 268 #endif
 269 }
 270 #endif
 271
 272 #endif
 273
 274 // MESSAGE DISTANCE_SENSOR UNPACKING
 275
 276
 277 /**
 278  * @brief Get field time_boot_ms from distance_sensor message
 279  *
 280  * @return Time since system boot
 281  */
 282 static inline uint32_t mavlink_msg_distance_sensor_get_time_boot_ms(const mavlink_message_t* msg)
 283 {
 284         return _MAV_RETURN_uint32_t(msg,  0);
 285 }
 286
 287 /**
 288  * @brief Get field min_distance from distance_sensor message
 289  *
 290  * @return Minimum distance the sensor can measure in centimeters
 291  */
 292 static inline uint16_t mavlink_msg_distance_sensor_get_min_distance(const mavlink_message_t* msg)
 293 {
 294         return _MAV_RETURN_uint16_t(msg,  4);
 295 }
 296
 297 /**
 298  * @brief Get field max_distance from distance_sensor message
 299  *
 300  * @return Maximum distance the sensor can measure in centimeters
 301  */
 302 static inline uint16_t mavlink_msg_distance_sensor_get_max_distance(const mavlink_message_t* msg)
 303 {
 304         return _MAV_RETURN_uint16_t(msg,  6);
 305 }
 306
 307 /**
 308  * @brief Get field current_distance from distance_sensor message
 309  *
 310  * @return Current distance reading
 311  */
 312 static inline uint16_t mavlink_msg_distance_sensor_get_current_distance(const mavlink_message_t* msg)
 313 {
 314         return _MAV_RETURN_uint16_t(msg,  8);
 315 }
 316
 317 /**
 318  * @brief Get field type from distance_sensor message
 319  *
 320  * @return Type from MAV_DISTANCE_SENSOR enum.
 321  */
 322 static inline uint8_t mavlink_msg_distance_sensor_get_type(const mavlink_message_t* msg)
 323 {
 324         return _MAV_RETURN_uint8_t(msg,  10);
 325 }
 326
 327 /**
 328  * @brief Get field id from distance_sensor message
 329  *
 330  * @return Onboard ID of the sensor
 331  */
 332 static inline uint8_t mavlink_msg_distance_sensor_get_id(const mavlink_message_t* msg)
 333 {
 334         return _MAV_RETURN_uint8_t(msg,  11);
 335 }
 336
 337 /**
 338  * @brief Get field orientation from distance_sensor message
 339  *
 340  * @return Direction the sensor faces from FIXME enum.
 341  */
 342 static inline uint8_t mavlink_msg_distance_sensor_get_orientation(const mavlink_message_t* msg)
 343 {
 344         return _MAV_RETURN_uint8_t(msg,  12);
 345 }
 346
 347 /**
 348  * @brief Get field covariance from distance_sensor message
 349  *
 350  * @return Measurement covariance in centimeters, 0 for unknown / invalid readings
 351  */
 352 static inline uint8_t mavlink_msg_distance_sensor_get_covariance(const mavlink_message_t* msg)
 353 {
 354         return _MAV_RETURN_uint8_t(msg,  13);
 355 }
 356
 357 /**
 358  * @brief Decode a distance_sensor message into a struct
 359  *
 360  * @param msg The message to decode
 361  * @param distance_sensor C-struct to decode the message contents into
 362  */
 363 static inline void mavlink_msg_distance_sensor_decode(const mavlink_message_t* msg, mavlink_distance_sensor_t* distance_sensor)
 364 {
 365 #if MAVLINK_NEED_BYTE_SWAP
 366         distance_sensor->time_boot_ms = mavlink_msg_distance_sensor_get_time_boot_ms(msg);
 367         distance_sensor->min_distance = mavlink_msg_distance_sensor_get_min_distance(msg);
 368         distance_sensor->max_distance = mavlink_msg_distance_sensor_get_max_distance(msg);
 369         distance_sensor->current_distance = mavlink_msg_distance_sensor_get_current_distance(msg);
 370         distance_sensor->type = mavlink_msg_distance_sensor_get_type(msg);
 371         distance_sensor->id = mavlink_msg_distance_sensor_get_id(msg);
 372         distance_sensor->orientation = mavlink_msg_distance_sensor_get_orientation(msg);
 373         distance_sensor->covariance = mavlink_msg_distance_sensor_get_covariance(msg);
 374 #else
 375         memcpy(distance_sensor, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN);
 376 #endif
 377 }