Move telemetry displayport init and cms device registering
[betaflight.git] / lib / main / MAVLink / common / mavlink_msg_manual_control.h
blobe93b759d0adb9e09dfc51e6da4fda0eb8f082381
1 // MESSAGE MANUAL_CONTROL PACKING
3 #define MAVLINK_MSG_ID_MANUAL_CONTROL 69
5 typedef struct __mavlink_manual_control_t
7 int16_t x; ///< X-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to forward(1000)-backward(-1000) movement on a joystick and the pitch of a vehicle.
8 int16_t y; ///< Y-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to left(-1000)-right(1000) movement on a joystick and the roll of a vehicle.
9 int16_t z; ///< Z-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a separate slider movement with maximum being 1000 and minimum being -1000 on a joystick and the thrust of a vehicle.
10 int16_t r; ///< R-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a twisting of the joystick, with counter-clockwise being 1000 and clockwise being -1000, and the yaw of a vehicle.
11 uint16_t buttons; ///< A bitfield corresponding to the joystick buttons' current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 1.
12 uint8_t target; ///< The system to be controlled.
13 } mavlink_manual_control_t;
15 #define MAVLINK_MSG_ID_MANUAL_CONTROL_LEN 11
16 #define MAVLINK_MSG_ID_69_LEN 11
18 #define MAVLINK_MSG_ID_MANUAL_CONTROL_CRC 243
19 #define MAVLINK_MSG_ID_69_CRC 243
23 #define MAVLINK_MESSAGE_INFO_MANUAL_CONTROL { \
24 "MANUAL_CONTROL", \
25 6, \
26 { { "x", NULL, MAVLINK_TYPE_INT16_T, 0, 0, offsetof(mavlink_manual_control_t, x) }, \
27 { "y", NULL, MAVLINK_TYPE_INT16_T, 0, 2, offsetof(mavlink_manual_control_t, y) }, \
28 { "z", NULL, MAVLINK_TYPE_INT16_T, 0, 4, offsetof(mavlink_manual_control_t, z) }, \
29 { "r", NULL, MAVLINK_TYPE_INT16_T, 0, 6, offsetof(mavlink_manual_control_t, r) }, \
30 { "buttons", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_manual_control_t, buttons) }, \
31 { "target", NULL, MAVLINK_TYPE_UINT8_T, 0, 10, offsetof(mavlink_manual_control_t, target) }, \
32 } \
36 /**
37 * @brief Pack a manual_control message
38 * @param system_id ID of this system
39 * @param component_id ID of this component (e.g. 200 for IMU)
40 * @param msg The MAVLink message to compress the data into
42 * @param target The system to be controlled.
43 * @param x X-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to forward(1000)-backward(-1000) movement on a joystick and the pitch of a vehicle.
44 * @param y Y-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to left(-1000)-right(1000) movement on a joystick and the roll of a vehicle.
45 * @param z Z-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a separate slider movement with maximum being 1000 and minimum being -1000 on a joystick and the thrust of a vehicle.
46 * @param r R-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a twisting of the joystick, with counter-clockwise being 1000 and clockwise being -1000, and the yaw of a vehicle.
47 * @param buttons A bitfield corresponding to the joystick buttons' current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 1.
48 * @return length of the message in bytes (excluding serial stream start sign)
50 static inline uint16_t mavlink_msg_manual_control_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
51 uint8_t target, int16_t x, int16_t y, int16_t z, int16_t r, uint16_t buttons)
53 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
54 char buf[MAVLINK_MSG_ID_MANUAL_CONTROL_LEN];
55 _mav_put_int16_t(buf, 0, x);
56 _mav_put_int16_t(buf, 2, y);
57 _mav_put_int16_t(buf, 4, z);
58 _mav_put_int16_t(buf, 6, r);
59 _mav_put_uint16_t(buf, 8, buttons);
60 _mav_put_uint8_t(buf, 10, target);
62 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN);
63 #else
64 mavlink_manual_control_t packet;
65 packet.x = x;
66 packet.y = y;
67 packet.z = z;
68 packet.r = r;
69 packet.buttons = buttons;
70 packet.target = target;
72 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN);
73 #endif
75 msg->msgid = MAVLINK_MSG_ID_MANUAL_CONTROL;
76 #if MAVLINK_CRC_EXTRA
77 return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN, MAVLINK_MSG_ID_MANUAL_CONTROL_CRC);
78 #else
79 return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN);
80 #endif
83 /**
84 * @brief Pack a manual_control message on a channel
85 * @param system_id ID of this system
86 * @param component_id ID of this component (e.g. 200 for IMU)
87 * @param chan The MAVLink channel this message will be sent over
88 * @param msg The MAVLink message to compress the data into
89 * @param target The system to be controlled.
90 * @param x X-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to forward(1000)-backward(-1000) movement on a joystick and the pitch of a vehicle.
91 * @param y Y-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to left(-1000)-right(1000) movement on a joystick and the roll of a vehicle.
92 * @param z Z-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a separate slider movement with maximum being 1000 and minimum being -1000 on a joystick and the thrust of a vehicle.
93 * @param r R-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a twisting of the joystick, with counter-clockwise being 1000 and clockwise being -1000, and the yaw of a vehicle.
94 * @param buttons A bitfield corresponding to the joystick buttons' current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 1.
95 * @return length of the message in bytes (excluding serial stream start sign)
97 static inline uint16_t mavlink_msg_manual_control_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
98 mavlink_message_t* msg,
99 uint8_t target,int16_t x,int16_t y,int16_t z,int16_t r,uint16_t buttons)
101 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
102 char buf[MAVLINK_MSG_ID_MANUAL_CONTROL_LEN];
103 _mav_put_int16_t(buf, 0, x);
104 _mav_put_int16_t(buf, 2, y);
105 _mav_put_int16_t(buf, 4, z);
106 _mav_put_int16_t(buf, 6, r);
107 _mav_put_uint16_t(buf, 8, buttons);
108 _mav_put_uint8_t(buf, 10, target);
110 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN);
111 #else
112 mavlink_manual_control_t packet;
113 packet.x = x;
114 packet.y = y;
115 packet.z = z;
116 packet.r = r;
117 packet.buttons = buttons;
118 packet.target = target;
120 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN);
121 #endif
123 msg->msgid = MAVLINK_MSG_ID_MANUAL_CONTROL;
124 #if MAVLINK_CRC_EXTRA
125 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN, MAVLINK_MSG_ID_MANUAL_CONTROL_CRC);
126 #else
127 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN);
128 #endif
132 * @brief Encode a manual_control struct
134 * @param system_id ID of this system
135 * @param component_id ID of this component (e.g. 200 for IMU)
136 * @param msg The MAVLink message to compress the data into
137 * @param manual_control C-struct to read the message contents from
139 static inline uint16_t mavlink_msg_manual_control_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_manual_control_t* manual_control)
141 return mavlink_msg_manual_control_pack(system_id, component_id, msg, manual_control->target, manual_control->x, manual_control->y, manual_control->z, manual_control->r, manual_control->buttons);
145 * @brief Encode a manual_control struct on a channel
147 * @param system_id ID of this system
148 * @param component_id ID of this component (e.g. 200 for IMU)
149 * @param chan The MAVLink channel this message will be sent over
150 * @param msg The MAVLink message to compress the data into
151 * @param manual_control C-struct to read the message contents from
153 static inline uint16_t mavlink_msg_manual_control_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_manual_control_t* manual_control)
155 return mavlink_msg_manual_control_pack_chan(system_id, component_id, chan, msg, manual_control->target, manual_control->x, manual_control->y, manual_control->z, manual_control->r, manual_control->buttons);
159 * @brief Send a manual_control message
160 * @param chan MAVLink channel to send the message
162 * @param target The system to be controlled.
163 * @param x X-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to forward(1000)-backward(-1000) movement on a joystick and the pitch of a vehicle.
164 * @param y Y-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to left(-1000)-right(1000) movement on a joystick and the roll of a vehicle.
165 * @param z Z-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a separate slider movement with maximum being 1000 and minimum being -1000 on a joystick and the thrust of a vehicle.
166 * @param r R-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a twisting of the joystick, with counter-clockwise being 1000 and clockwise being -1000, and the yaw of a vehicle.
167 * @param buttons A bitfield corresponding to the joystick buttons' current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 1.
169 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
171 static inline void mavlink_msg_manual_control_send(mavlink_channel_t chan, uint8_t target, int16_t x, int16_t y, int16_t z, int16_t r, uint16_t buttons)
173 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
174 char buf[MAVLINK_MSG_ID_MANUAL_CONTROL_LEN];
175 _mav_put_int16_t(buf, 0, x);
176 _mav_put_int16_t(buf, 2, y);
177 _mav_put_int16_t(buf, 4, z);
178 _mav_put_int16_t(buf, 6, r);
179 _mav_put_uint16_t(buf, 8, buttons);
180 _mav_put_uint8_t(buf, 10, target);
182 #if MAVLINK_CRC_EXTRA
183 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_CONTROL, buf, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN, MAVLINK_MSG_ID_MANUAL_CONTROL_CRC);
184 #else
185 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_CONTROL, buf, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN);
186 #endif
187 #else
188 mavlink_manual_control_t packet;
189 packet.x = x;
190 packet.y = y;
191 packet.z = z;
192 packet.r = r;
193 packet.buttons = buttons;
194 packet.target = target;
196 #if MAVLINK_CRC_EXTRA
197 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_CONTROL, (const char *)&packet, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN, MAVLINK_MSG_ID_MANUAL_CONTROL_CRC);
198 #else
199 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_CONTROL, (const char *)&packet, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN);
200 #endif
201 #endif
204 #if MAVLINK_MSG_ID_MANUAL_CONTROL_LEN <= MAVLINK_MAX_PAYLOAD_LEN
206 This varient of _send() can be used to save stack space by re-using
207 memory from the receive buffer. The caller provides a
208 mavlink_message_t which is the size of a full mavlink message. This
209 is usually the receive buffer for the channel, and allows a reply to an
210 incoming message with minimum stack space usage.
212 static inline void mavlink_msg_manual_control_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target, int16_t x, int16_t y, int16_t z, int16_t r, uint16_t buttons)
214 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
215 char *buf = (char *)msgbuf;
216 _mav_put_int16_t(buf, 0, x);
217 _mav_put_int16_t(buf, 2, y);
218 _mav_put_int16_t(buf, 4, z);
219 _mav_put_int16_t(buf, 6, r);
220 _mav_put_uint16_t(buf, 8, buttons);
221 _mav_put_uint8_t(buf, 10, target);
223 #if MAVLINK_CRC_EXTRA
224 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_CONTROL, buf, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN, MAVLINK_MSG_ID_MANUAL_CONTROL_CRC);
225 #else
226 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_CONTROL, buf, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN);
227 #endif
228 #else
229 mavlink_manual_control_t *packet = (mavlink_manual_control_t *)msgbuf;
230 packet->x = x;
231 packet->y = y;
232 packet->z = z;
233 packet->r = r;
234 packet->buttons = buttons;
235 packet->target = target;
237 #if MAVLINK_CRC_EXTRA
238 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_CONTROL, (const char *)packet, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN, MAVLINK_MSG_ID_MANUAL_CONTROL_CRC);
239 #else
240 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_CONTROL, (const char *)packet, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN);
241 #endif
242 #endif
244 #endif
246 #endif
248 // MESSAGE MANUAL_CONTROL UNPACKING
252 * @brief Get field target from manual_control message
254 * @return The system to be controlled.
256 static inline uint8_t mavlink_msg_manual_control_get_target(const mavlink_message_t* msg)
258 return _MAV_RETURN_uint8_t(msg, 10);
262 * @brief Get field x from manual_control message
264 * @return X-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to forward(1000)-backward(-1000) movement on a joystick and the pitch of a vehicle.
266 static inline int16_t mavlink_msg_manual_control_get_x(const mavlink_message_t* msg)
268 return _MAV_RETURN_int16_t(msg, 0);
272 * @brief Get field y from manual_control message
274 * @return Y-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to left(-1000)-right(1000) movement on a joystick and the roll of a vehicle.
276 static inline int16_t mavlink_msg_manual_control_get_y(const mavlink_message_t* msg)
278 return _MAV_RETURN_int16_t(msg, 2);
282 * @brief Get field z from manual_control message
284 * @return Z-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a separate slider movement with maximum being 1000 and minimum being -1000 on a joystick and the thrust of a vehicle.
286 static inline int16_t mavlink_msg_manual_control_get_z(const mavlink_message_t* msg)
288 return _MAV_RETURN_int16_t(msg, 4);
292 * @brief Get field r from manual_control message
294 * @return R-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a twisting of the joystick, with counter-clockwise being 1000 and clockwise being -1000, and the yaw of a vehicle.
296 static inline int16_t mavlink_msg_manual_control_get_r(const mavlink_message_t* msg)
298 return _MAV_RETURN_int16_t(msg, 6);
302 * @brief Get field buttons from manual_control message
304 * @return A bitfield corresponding to the joystick buttons' current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 1.
306 static inline uint16_t mavlink_msg_manual_control_get_buttons(const mavlink_message_t* msg)
308 return _MAV_RETURN_uint16_t(msg, 8);
312 * @brief Decode a manual_control message into a struct
314 * @param msg The message to decode
315 * @param manual_control C-struct to decode the message contents into
317 static inline void mavlink_msg_manual_control_decode(const mavlink_message_t* msg, mavlink_manual_control_t* manual_control)
319 #if MAVLINK_NEED_BYTE_SWAP
320 manual_control->x = mavlink_msg_manual_control_get_x(msg);
321 manual_control->y = mavlink_msg_manual_control_get_y(msg);
322 manual_control->z = mavlink_msg_manual_control_get_z(msg);
323 manual_control->r = mavlink_msg_manual_control_get_r(msg);
324 manual_control->buttons = mavlink_msg_manual_control_get_buttons(msg);
325 manual_control->target = mavlink_msg_manual_control_get_target(msg);
326 #else
327 memcpy(manual_control, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_MANUAL_CONTROL_LEN);
328 #endif