lib/main/MAVLink/common/mavlink_msg_nav_controller_output.h

   1 // MESSAGE NAV_CONTROLLER_OUTPUT PACKING
   2
   3 #define MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT 62
   4
   5 typedef struct __mavlink_nav_controller_output_t
   6 {
   7  float nav_roll; ///< Current desired roll in degrees
   8  float nav_pitch; ///< Current desired pitch in degrees
   9  float alt_error; ///< Current altitude error in meters
  10  float aspd_error; ///< Current airspeed error in meters/second
  11  float xtrack_error; ///< Current crosstrack error on x-y plane in meters
  12  int16_t nav_bearing; ///< Current desired heading in degrees
  13  int16_t target_bearing; ///< Bearing to current MISSION/target in degrees
  14  uint16_t wp_dist; ///< Distance to active MISSION in meters
  15 } mavlink_nav_controller_output_t;
  16
  17 #define MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN 26
  18 #define MAVLINK_MSG_ID_62_LEN 26
  19
  20 #define MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_CRC 183
  21 #define MAVLINK_MSG_ID_62_CRC 183
  22
  23
  24
  25 #define MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT { \
  26         "NAV_CONTROLLER_OUTPUT", \
  27         8, \
  28         {  { "nav_roll", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_nav_controller_output_t, nav_roll) }, \
  29          { "nav_pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_nav_controller_output_t, nav_pitch) }, \
  30          { "alt_error", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_nav_controller_output_t, alt_error) }, \
  31          { "aspd_error", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_nav_controller_output_t, aspd_error) }, \
  32          { "xtrack_error", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_nav_controller_output_t, xtrack_error) }, \
  33          { "nav_bearing", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_nav_controller_output_t, nav_bearing) }, \
  34          { "target_bearing", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_nav_controller_output_t, target_bearing) }, \
  35          { "wp_dist", NULL, MAVLINK_TYPE_UINT16_T, 0, 24, offsetof(mavlink_nav_controller_output_t, wp_dist) }, \
  36          } \
  37 }
  38
  39
  40 /**
  41  * @brief Pack a nav_controller_output 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 nav_roll Current desired roll in degrees
  47  * @param nav_pitch Current desired pitch in degrees
  48  * @param nav_bearing Current desired heading in degrees
  49  * @param target_bearing Bearing to current MISSION/target in degrees
  50  * @param wp_dist Distance to active MISSION in meters
  51  * @param alt_error Current altitude error in meters
  52  * @param aspd_error Current airspeed error in meters/second
  53  * @param xtrack_error Current crosstrack error on x-y plane in meters
  54  * @return length of the message in bytes (excluding serial stream start sign)
  55  */
  56 static inline uint16_t mavlink_msg_nav_controller_output_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  57                                                        float nav_roll, float nav_pitch, int16_t nav_bearing, int16_t target_bearing, uint16_t wp_dist, float alt_error, float aspd_error, float xtrack_error)
  58 {
  59 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  60         char buf[MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN];
  61         _mav_put_float(buf, 0, nav_roll);
  62         _mav_put_float(buf, 4, nav_pitch);
  63         _mav_put_float(buf, 8, alt_error);
  64         _mav_put_float(buf, 12, aspd_error);
  65         _mav_put_float(buf, 16, xtrack_error);
  66         _mav_put_int16_t(buf, 20, nav_bearing);
  67         _mav_put_int16_t(buf, 22, target_bearing);
  68         _mav_put_uint16_t(buf, 24, wp_dist);
  69
  70         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN);
  71 #else
  72         mavlink_nav_controller_output_t packet;
  73         packet.nav_roll = nav_roll;
  74         packet.nav_pitch = nav_pitch;
  75         packet.alt_error = alt_error;
  76         packet.aspd_error = aspd_error;
  77         packet.xtrack_error = xtrack_error;
  78         packet.nav_bearing = nav_bearing;
  79         packet.target_bearing = target_bearing;
  80         packet.wp_dist = wp_dist;
  81
  82         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN);
  83 #endif
  84
  85         msg->msgid = MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT;
  86 #if MAVLINK_CRC_EXTRA
  87     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_CRC);
  88 #else
  89     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN);
  90 #endif
  91 }
  92
  93 /**
  94  * @brief Pack a nav_controller_output 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 nav_roll Current desired roll in degrees
 100  * @param nav_pitch Current desired pitch in degrees
 101  * @param nav_bearing Current desired heading in degrees
 102  * @param target_bearing Bearing to current MISSION/target in degrees
 103  * @param wp_dist Distance to active MISSION in meters
 104  * @param alt_error Current altitude error in meters
 105  * @param aspd_error Current airspeed error in meters/second
 106  * @param xtrack_error Current crosstrack error on x-y plane in meters
 107  * @return length of the message in bytes (excluding serial stream start sign)
 108  */
 109 static inline uint16_t mavlink_msg_nav_controller_output_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 110                                                            mavlink_message_t* msg,
 111                                                            float nav_roll,float nav_pitch,int16_t nav_bearing,int16_t target_bearing,uint16_t wp_dist,float alt_error,float aspd_error,float xtrack_error)
 112 {
 113 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 114         char buf[MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN];
 115         _mav_put_float(buf, 0, nav_roll);
 116         _mav_put_float(buf, 4, nav_pitch);
 117         _mav_put_float(buf, 8, alt_error);
 118         _mav_put_float(buf, 12, aspd_error);
 119         _mav_put_float(buf, 16, xtrack_error);
 120         _mav_put_int16_t(buf, 20, nav_bearing);
 121         _mav_put_int16_t(buf, 22, target_bearing);
 122         _mav_put_uint16_t(buf, 24, wp_dist);
 123
 124         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN);
 125 #else
 126         mavlink_nav_controller_output_t packet;
 127         packet.nav_roll = nav_roll;
 128         packet.nav_pitch = nav_pitch;
 129         packet.alt_error = alt_error;
 130         packet.aspd_error = aspd_error;
 131         packet.xtrack_error = xtrack_error;
 132         packet.nav_bearing = nav_bearing;
 133         packet.target_bearing = target_bearing;
 134         packet.wp_dist = wp_dist;
 135
 136         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN);
 137 #endif
 138
 139         msg->msgid = MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT;
 140 #if MAVLINK_CRC_EXTRA
 141     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_CRC);
 142 #else
 143     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN);
 144 #endif
 145 }
 146
 147 /**
 148  * @brief Encode a nav_controller_output 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 nav_controller_output C-struct to read the message contents from
 154  */
 155 static inline uint16_t mavlink_msg_nav_controller_output_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_nav_controller_output_t* nav_controller_output)
 156 {
 157         return mavlink_msg_nav_controller_output_pack(system_id, component_id, msg, nav_controller_output->nav_roll, nav_controller_output->nav_pitch, nav_controller_output->nav_bearing, nav_controller_output->target_bearing, nav_controller_output->wp_dist, nav_controller_output->alt_error, nav_controller_output->aspd_error, nav_controller_output->xtrack_error);
 158 }
 159
 160 /**
 161  * @brief Encode a nav_controller_output 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 nav_controller_output C-struct to read the message contents from
 168  */
 169 static inline uint16_t mavlink_msg_nav_controller_output_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_nav_controller_output_t* nav_controller_output)
 170 {
 171         return mavlink_msg_nav_controller_output_pack_chan(system_id, component_id, chan, msg, nav_controller_output->nav_roll, nav_controller_output->nav_pitch, nav_controller_output->nav_bearing, nav_controller_output->target_bearing, nav_controller_output->wp_dist, nav_controller_output->alt_error, nav_controller_output->aspd_error, nav_controller_output->xtrack_error);
 172 }
 173
 174 /**
 175  * @brief Send a nav_controller_output message
 176  * @param chan MAVLink channel to send the message
 177  *
 178  * @param nav_roll Current desired roll in degrees
 179  * @param nav_pitch Current desired pitch in degrees
 180  * @param nav_bearing Current desired heading in degrees
 181  * @param target_bearing Bearing to current MISSION/target in degrees
 182  * @param wp_dist Distance to active MISSION in meters
 183  * @param alt_error Current altitude error in meters
 184  * @param aspd_error Current airspeed error in meters/second
 185  * @param xtrack_error Current crosstrack error on x-y plane in meters
 186  */
 187 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 188
 189 static inline void mavlink_msg_nav_controller_output_send(mavlink_channel_t chan, float nav_roll, float nav_pitch, int16_t nav_bearing, int16_t target_bearing, uint16_t wp_dist, float alt_error, float aspd_error, float xtrack_error)
 190 {
 191 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 192         char buf[MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN];
 193         _mav_put_float(buf, 0, nav_roll);
 194         _mav_put_float(buf, 4, nav_pitch);
 195         _mav_put_float(buf, 8, alt_error);
 196         _mav_put_float(buf, 12, aspd_error);
 197         _mav_put_float(buf, 16, xtrack_error);
 198         _mav_put_int16_t(buf, 20, nav_bearing);
 199         _mav_put_int16_t(buf, 22, target_bearing);
 200         _mav_put_uint16_t(buf, 24, wp_dist);
 201
 202 #if MAVLINK_CRC_EXTRA
 203     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT, buf, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_CRC);
 204 #else
 205     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT, buf, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN);
 206 #endif
 207 #else
 208         mavlink_nav_controller_output_t packet;
 209         packet.nav_roll = nav_roll;
 210         packet.nav_pitch = nav_pitch;
 211         packet.alt_error = alt_error;
 212         packet.aspd_error = aspd_error;
 213         packet.xtrack_error = xtrack_error;
 214         packet.nav_bearing = nav_bearing;
 215         packet.target_bearing = target_bearing;
 216         packet.wp_dist = wp_dist;
 217
 218 #if MAVLINK_CRC_EXTRA
 219     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT, (const char *)&packet, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_CRC);
 220 #else
 221     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT, (const char *)&packet, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN);
 222 #endif
 223 #endif
 224 }
 225
 226 #if MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_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_nav_controller_output_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  float nav_roll, float nav_pitch, int16_t nav_bearing, int16_t target_bearing, uint16_t wp_dist, float alt_error, float aspd_error, float xtrack_error)
 235 {
 236 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 237         char *buf = (char *)msgbuf;
 238         _mav_put_float(buf, 0, nav_roll);
 239         _mav_put_float(buf, 4, nav_pitch);
 240         _mav_put_float(buf, 8, alt_error);
 241         _mav_put_float(buf, 12, aspd_error);
 242         _mav_put_float(buf, 16, xtrack_error);
 243         _mav_put_int16_t(buf, 20, nav_bearing);
 244         _mav_put_int16_t(buf, 22, target_bearing);
 245         _mav_put_uint16_t(buf, 24, wp_dist);
 246
 247 #if MAVLINK_CRC_EXTRA
 248     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT, buf, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_CRC);
 249 #else
 250     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT, buf, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN);
 251 #endif
 252 #else
 253         mavlink_nav_controller_output_t *packet = (mavlink_nav_controller_output_t *)msgbuf;
 254         packet->nav_roll = nav_roll;
 255         packet->nav_pitch = nav_pitch;
 256         packet->alt_error = alt_error;
 257         packet->aspd_error = aspd_error;
 258         packet->xtrack_error = xtrack_error;
 259         packet->nav_bearing = nav_bearing;
 260         packet->target_bearing = target_bearing;
 261         packet->wp_dist = wp_dist;
 262
 263 #if MAVLINK_CRC_EXTRA
 264     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT, (const char *)packet, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_CRC);
 265 #else
 266     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT, (const char *)packet, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN);
 267 #endif
 268 #endif
 269 }
 270 #endif
 271
 272 #endif
 273
 274 // MESSAGE NAV_CONTROLLER_OUTPUT UNPACKING
 275
 276
 277 /**
 278  * @brief Get field nav_roll from nav_controller_output message
 279  *
 280  * @return Current desired roll in degrees
 281  */
 282 static inline float mavlink_msg_nav_controller_output_get_nav_roll(const mavlink_message_t* msg)
 283 {
 284         return _MAV_RETURN_float(msg,  0);
 285 }
 286
 287 /**
 288  * @brief Get field nav_pitch from nav_controller_output message
 289  *
 290  * @return Current desired pitch in degrees
 291  */
 292 static inline float mavlink_msg_nav_controller_output_get_nav_pitch(const mavlink_message_t* msg)
 293 {
 294         return _MAV_RETURN_float(msg,  4);
 295 }
 296
 297 /**
 298  * @brief Get field nav_bearing from nav_controller_output message
 299  *
 300  * @return Current desired heading in degrees
 301  */
 302 static inline int16_t mavlink_msg_nav_controller_output_get_nav_bearing(const mavlink_message_t* msg)
 303 {
 304         return _MAV_RETURN_int16_t(msg,  20);
 305 }
 306
 307 /**
 308  * @brief Get field target_bearing from nav_controller_output message
 309  *
 310  * @return Bearing to current MISSION/target in degrees
 311  */
 312 static inline int16_t mavlink_msg_nav_controller_output_get_target_bearing(const mavlink_message_t* msg)
 313 {
 314         return _MAV_RETURN_int16_t(msg,  22);
 315 }
 316
 317 /**
 318  * @brief Get field wp_dist from nav_controller_output message
 319  *
 320  * @return Distance to active MISSION in meters
 321  */
 322 static inline uint16_t mavlink_msg_nav_controller_output_get_wp_dist(const mavlink_message_t* msg)
 323 {
 324         return _MAV_RETURN_uint16_t(msg,  24);
 325 }
 326
 327 /**
 328  * @brief Get field alt_error from nav_controller_output message
 329  *
 330  * @return Current altitude error in meters
 331  */
 332 static inline float mavlink_msg_nav_controller_output_get_alt_error(const mavlink_message_t* msg)
 333 {
 334         return _MAV_RETURN_float(msg,  8);
 335 }
 336
 337 /**
 338  * @brief Get field aspd_error from nav_controller_output message
 339  *
 340  * @return Current airspeed error in meters/second
 341  */
 342 static inline float mavlink_msg_nav_controller_output_get_aspd_error(const mavlink_message_t* msg)
 343 {
 344         return _MAV_RETURN_float(msg,  12);
 345 }
 346
 347 /**
 348  * @brief Get field xtrack_error from nav_controller_output message
 349  *
 350  * @return Current crosstrack error on x-y plane in meters
 351  */
 352 static inline float mavlink_msg_nav_controller_output_get_xtrack_error(const mavlink_message_t* msg)
 353 {
 354         return _MAV_RETURN_float(msg,  16);
 355 }
 356
 357 /**
 358  * @brief Decode a nav_controller_output message into a struct
 359  *
 360  * @param msg The message to decode
 361  * @param nav_controller_output C-struct to decode the message contents into
 362  */
 363 static inline void mavlink_msg_nav_controller_output_decode(const mavlink_message_t* msg, mavlink_nav_controller_output_t* nav_controller_output)
 364 {
 365 #if MAVLINK_NEED_BYTE_SWAP
 366         nav_controller_output->nav_roll = mavlink_msg_nav_controller_output_get_nav_roll(msg);
 367         nav_controller_output->nav_pitch = mavlink_msg_nav_controller_output_get_nav_pitch(msg);
 368         nav_controller_output->alt_error = mavlink_msg_nav_controller_output_get_alt_error(msg);
 369         nav_controller_output->aspd_error = mavlink_msg_nav_controller_output_get_aspd_error(msg);
 370         nav_controller_output->xtrack_error = mavlink_msg_nav_controller_output_get_xtrack_error(msg);
 371         nav_controller_output->nav_bearing = mavlink_msg_nav_controller_output_get_nav_bearing(msg);
 372         nav_controller_output->target_bearing = mavlink_msg_nav_controller_output_get_target_bearing(msg);
 373         nav_controller_output->wp_dist = mavlink_msg_nav_controller_output_get_wp_dist(msg);
 374 #else
 375         memcpy(nav_controller_output, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN);
 376 #endif
 377 }