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 { \
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) }, \
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
);
64 mavlink_manual_control_t packet
;
69 packet
.buttons
= buttons
;
70 packet
.target
= target
;
72 memcpy(_MAV_PAYLOAD_NON_CONST(msg
), &packet
, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN
);
75 msg
->msgid
= MAVLINK_MSG_ID_MANUAL_CONTROL
;
77 return mavlink_finalize_message(msg
, system_id
, component_id
, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN
, MAVLINK_MSG_ID_MANUAL_CONTROL_CRC
);
79 return mavlink_finalize_message(msg
, system_id
, component_id
, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN
);
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
);
112 mavlink_manual_control_t packet
;
117 packet
.buttons
= buttons
;
118 packet
.target
= target
;
120 memcpy(_MAV_PAYLOAD_NON_CONST(msg
), &packet
, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN
);
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
);
127 return mavlink_finalize_message_chan(msg
, system_id
, component_id
, chan
, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN
);
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
);
185 _mav_finalize_message_chan_send(chan
, MAVLINK_MSG_ID_MANUAL_CONTROL
, buf
, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN
);
188 mavlink_manual_control_t packet
;
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
);
199 _mav_finalize_message_chan_send(chan
, MAVLINK_MSG_ID_MANUAL_CONTROL
, (const char *)&packet
, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN
);
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
);
226 _mav_finalize_message_chan_send(chan
, MAVLINK_MSG_ID_MANUAL_CONTROL
, buf
, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN
);
229 mavlink_manual_control_t
*packet
= (mavlink_manual_control_t
*)msgbuf
;
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
);
240 _mav_finalize_message_chan_send(chan
, MAVLINK_MSG_ID_MANUAL_CONTROL
, (const char *)packet
, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN
);
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
);
327 memcpy(manual_control
, _MAV_PAYLOAD(msg
), MAVLINK_MSG_ID_MANUAL_CONTROL_LEN
);