lib/main/MAVLink/common/mavlink_msg_vfr_hud.h

   1 // MESSAGE VFR_HUD PACKING
   2
   3 #define MAVLINK_MSG_ID_VFR_HUD 74
   4
   5 typedef struct __mavlink_vfr_hud_t
   6 {
   7  float airspeed; ///< Current airspeed in m/s
   8  float groundspeed; ///< Current ground speed in m/s
   9  float alt; ///< Current altitude (MSL), in meters
  10  float climb; ///< Current climb rate in meters/second
  11  int16_t heading; ///< Current heading in degrees, in compass units (0..360, 0=north)
  12  uint16_t throttle; ///< Current throttle setting in integer percent, 0 to 100
  13 } mavlink_vfr_hud_t;
  14
  15 #define MAVLINK_MSG_ID_VFR_HUD_LEN 20
  16 #define MAVLINK_MSG_ID_74_LEN 20
  17
  18 #define MAVLINK_MSG_ID_VFR_HUD_CRC 20
  19 #define MAVLINK_MSG_ID_74_CRC 20
  20
  21
  22
  23 #define MAVLINK_MESSAGE_INFO_VFR_HUD { \
  24         "VFR_HUD", \
  25         6, \
  26         {  { "airspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_vfr_hud_t, airspeed) }, \
  27          { "groundspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_vfr_hud_t, groundspeed) }, \
  28          { "alt", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_vfr_hud_t, alt) }, \
  29          { "climb", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_vfr_hud_t, climb) }, \
  30          { "heading", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_vfr_hud_t, heading) }, \
  31          { "throttle", NULL, MAVLINK_TYPE_UINT16_T, 0, 18, offsetof(mavlink_vfr_hud_t, throttle) }, \
  32          } \
  33 }
  34
  35
  36 /**
  37  * @brief Pack a vfr_hud 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
  41  *
  42  * @param airspeed Current airspeed in m/s
  43  * @param groundspeed Current ground speed in m/s
  44  * @param heading Current heading in degrees, in compass units (0..360, 0=north)
  45  * @param throttle Current throttle setting in integer percent, 0 to 100
  46  * @param alt Current altitude (MSL), in meters
  47  * @param climb Current climb rate in meters/second
  48  * @return length of the message in bytes (excluding serial stream start sign)
  49  */
  50 static inline uint16_t mavlink_msg_vfr_hud_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  51                                                        float airspeed, float groundspeed, int16_t heading, uint16_t throttle, float alt, float climb)
  52 {
  53 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  54         char buf[MAVLINK_MSG_ID_VFR_HUD_LEN];
  55         _mav_put_float(buf, 0, airspeed);
  56         _mav_put_float(buf, 4, groundspeed);
  57         _mav_put_float(buf, 8, alt);
  58         _mav_put_float(buf, 12, climb);
  59         _mav_put_int16_t(buf, 16, heading);
  60         _mav_put_uint16_t(buf, 18, throttle);
  61
  62         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VFR_HUD_LEN);
  63 #else
  64         mavlink_vfr_hud_t packet;
  65         packet.airspeed = airspeed;
  66         packet.groundspeed = groundspeed;
  67         packet.alt = alt;
  68         packet.climb = climb;
  69         packet.heading = heading;
  70         packet.throttle = throttle;
  71
  72         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_VFR_HUD_LEN);
  73 #endif
  74
  75         msg->msgid = MAVLINK_MSG_ID_VFR_HUD;
  76 #if MAVLINK_CRC_EXTRA
  77     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_VFR_HUD_LEN, MAVLINK_MSG_ID_VFR_HUD_CRC);
  78 #else
  79     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_VFR_HUD_LEN);
  80 #endif
  81 }
  82
  83 /**
  84  * @brief Pack a vfr_hud 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 airspeed Current airspeed in m/s
  90  * @param groundspeed Current ground speed in m/s
  91  * @param heading Current heading in degrees, in compass units (0..360, 0=north)
  92  * @param throttle Current throttle setting in integer percent, 0 to 100
  93  * @param alt Current altitude (MSL), in meters
  94  * @param climb Current climb rate in meters/second
  95  * @return length of the message in bytes (excluding serial stream start sign)
  96  */
  97 static inline uint16_t mavlink_msg_vfr_hud_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
  98                                                            mavlink_message_t* msg,
  99                                                            float airspeed,float groundspeed,int16_t heading,uint16_t throttle,float alt,float climb)
 100 {
 101 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 102         char buf[MAVLINK_MSG_ID_VFR_HUD_LEN];
 103         _mav_put_float(buf, 0, airspeed);
 104         _mav_put_float(buf, 4, groundspeed);
 105         _mav_put_float(buf, 8, alt);
 106         _mav_put_float(buf, 12, climb);
 107         _mav_put_int16_t(buf, 16, heading);
 108         _mav_put_uint16_t(buf, 18, throttle);
 109
 110         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VFR_HUD_LEN);
 111 #else
 112         mavlink_vfr_hud_t packet;
 113         packet.airspeed = airspeed;
 114         packet.groundspeed = groundspeed;
 115         packet.alt = alt;
 116         packet.climb = climb;
 117         packet.heading = heading;
 118         packet.throttle = throttle;
 119
 120         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_VFR_HUD_LEN);
 121 #endif
 122
 123         msg->msgid = MAVLINK_MSG_ID_VFR_HUD;
 124 #if MAVLINK_CRC_EXTRA
 125     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_VFR_HUD_LEN, MAVLINK_MSG_ID_VFR_HUD_CRC);
 126 #else
 127     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_VFR_HUD_LEN);
 128 #endif
 129 }
 130
 131 /**
 132  * @brief Encode a vfr_hud struct
 133  *
 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 vfr_hud C-struct to read the message contents from
 138  */
 139 static inline uint16_t mavlink_msg_vfr_hud_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_vfr_hud_t* vfr_hud)
 140 {
 141         return mavlink_msg_vfr_hud_pack(system_id, component_id, msg, vfr_hud->airspeed, vfr_hud->groundspeed, vfr_hud->heading, vfr_hud->throttle, vfr_hud->alt, vfr_hud->climb);
 142 }
 143
 144 /**
 145  * @brief Encode a vfr_hud struct on a channel
 146  *
 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 vfr_hud C-struct to read the message contents from
 152  */
 153 static inline uint16_t mavlink_msg_vfr_hud_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_vfr_hud_t* vfr_hud)
 154 {
 155         return mavlink_msg_vfr_hud_pack_chan(system_id, component_id, chan, msg, vfr_hud->airspeed, vfr_hud->groundspeed, vfr_hud->heading, vfr_hud->throttle, vfr_hud->alt, vfr_hud->climb);
 156 }
 157
 158 /**
 159  * @brief Send a vfr_hud message
 160  * @param chan MAVLink channel to send the message
 161  *
 162  * @param airspeed Current airspeed in m/s
 163  * @param groundspeed Current ground speed in m/s
 164  * @param heading Current heading in degrees, in compass units (0..360, 0=north)
 165  * @param throttle Current throttle setting in integer percent, 0 to 100
 166  * @param alt Current altitude (MSL), in meters
 167  * @param climb Current climb rate in meters/second
 168  */
 169 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 170
 171 static inline void mavlink_msg_vfr_hud_send(mavlink_channel_t chan, float airspeed, float groundspeed, int16_t heading, uint16_t throttle, float alt, float climb)
 172 {
 173 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 174         char buf[MAVLINK_MSG_ID_VFR_HUD_LEN];
 175         _mav_put_float(buf, 0, airspeed);
 176         _mav_put_float(buf, 4, groundspeed);
 177         _mav_put_float(buf, 8, alt);
 178         _mav_put_float(buf, 12, climb);
 179         _mav_put_int16_t(buf, 16, heading);
 180         _mav_put_uint16_t(buf, 18, throttle);
 181
 182 #if MAVLINK_CRC_EXTRA
 183     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VFR_HUD, buf, MAVLINK_MSG_ID_VFR_HUD_LEN, MAVLINK_MSG_ID_VFR_HUD_CRC);
 184 #else
 185     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VFR_HUD, buf, MAVLINK_MSG_ID_VFR_HUD_LEN);
 186 #endif
 187 #else
 188         mavlink_vfr_hud_t packet;
 189         packet.airspeed = airspeed;
 190         packet.groundspeed = groundspeed;
 191         packet.alt = alt;
 192         packet.climb = climb;
 193         packet.heading = heading;
 194         packet.throttle = throttle;
 195
 196 #if MAVLINK_CRC_EXTRA
 197     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VFR_HUD, (const char *)&packet, MAVLINK_MSG_ID_VFR_HUD_LEN, MAVLINK_MSG_ID_VFR_HUD_CRC);
 198 #else
 199     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VFR_HUD, (const char *)&packet, MAVLINK_MSG_ID_VFR_HUD_LEN);
 200 #endif
 201 #endif
 202 }
 203
 204 #if MAVLINK_MSG_ID_VFR_HUD_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 205 /*
 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.
 211  */
 212 static inline void mavlink_msg_vfr_hud_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  float airspeed, float groundspeed, int16_t heading, uint16_t throttle, float alt, float climb)
 213 {
 214 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 215         char *buf = (char *)msgbuf;
 216         _mav_put_float(buf, 0, airspeed);
 217         _mav_put_float(buf, 4, groundspeed);
 218         _mav_put_float(buf, 8, alt);
 219         _mav_put_float(buf, 12, climb);
 220         _mav_put_int16_t(buf, 16, heading);
 221         _mav_put_uint16_t(buf, 18, throttle);
 222
 223 #if MAVLINK_CRC_EXTRA
 224     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VFR_HUD, buf, MAVLINK_MSG_ID_VFR_HUD_LEN, MAVLINK_MSG_ID_VFR_HUD_CRC);
 225 #else
 226     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VFR_HUD, buf, MAVLINK_MSG_ID_VFR_HUD_LEN);
 227 #endif
 228 #else
 229         mavlink_vfr_hud_t *packet = (mavlink_vfr_hud_t *)msgbuf;
 230         packet->airspeed = airspeed;
 231         packet->groundspeed = groundspeed;
 232         packet->alt = alt;
 233         packet->climb = climb;
 234         packet->heading = heading;
 235         packet->throttle = throttle;
 236
 237 #if MAVLINK_CRC_EXTRA
 238     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VFR_HUD, (const char *)packet, MAVLINK_MSG_ID_VFR_HUD_LEN, MAVLINK_MSG_ID_VFR_HUD_CRC);
 239 #else
 240     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VFR_HUD, (const char *)packet, MAVLINK_MSG_ID_VFR_HUD_LEN);
 241 #endif
 242 #endif
 243 }
 244 #endif
 245
 246 #endif
 247
 248 // MESSAGE VFR_HUD UNPACKING
 249
 250
 251 /**
 252  * @brief Get field airspeed from vfr_hud message
 253  *
 254  * @return Current airspeed in m/s
 255  */
 256 static inline float mavlink_msg_vfr_hud_get_airspeed(const mavlink_message_t* msg)
 257 {
 258         return _MAV_RETURN_float(msg,  0);
 259 }
 260
 261 /**
 262  * @brief Get field groundspeed from vfr_hud message
 263  *
 264  * @return Current ground speed in m/s
 265  */
 266 static inline float mavlink_msg_vfr_hud_get_groundspeed(const mavlink_message_t* msg)
 267 {
 268         return _MAV_RETURN_float(msg,  4);
 269 }
 270
 271 /**
 272  * @brief Get field heading from vfr_hud message
 273  *
 274  * @return Current heading in degrees, in compass units (0..360, 0=north)
 275  */
 276 static inline int16_t mavlink_msg_vfr_hud_get_heading(const mavlink_message_t* msg)
 277 {
 278         return _MAV_RETURN_int16_t(msg,  16);
 279 }
 280
 281 /**
 282  * @brief Get field throttle from vfr_hud message
 283  *
 284  * @return Current throttle setting in integer percent, 0 to 100
 285  */
 286 static inline uint16_t mavlink_msg_vfr_hud_get_throttle(const mavlink_message_t* msg)
 287 {
 288         return _MAV_RETURN_uint16_t(msg,  18);
 289 }
 290
 291 /**
 292  * @brief Get field alt from vfr_hud message
 293  *
 294  * @return Current altitude (MSL), in meters
 295  */
 296 static inline float mavlink_msg_vfr_hud_get_alt(const mavlink_message_t* msg)
 297 {
 298         return _MAV_RETURN_float(msg,  8);
 299 }
 300
 301 /**
 302  * @brief Get field climb from vfr_hud message
 303  *
 304  * @return Current climb rate in meters/second
 305  */
 306 static inline float mavlink_msg_vfr_hud_get_climb(const mavlink_message_t* msg)
 307 {
 308         return _MAV_RETURN_float(msg,  12);
 309 }
 310
 311 /**
 312  * @brief Decode a vfr_hud message into a struct
 313  *
 314  * @param msg The message to decode
 315  * @param vfr_hud C-struct to decode the message contents into
 316  */
 317 static inline void mavlink_msg_vfr_hud_decode(const mavlink_message_t* msg, mavlink_vfr_hud_t* vfr_hud)
 318 {
 319 #if MAVLINK_NEED_BYTE_SWAP
 320         vfr_hud->airspeed = mavlink_msg_vfr_hud_get_airspeed(msg);
 321         vfr_hud->groundspeed = mavlink_msg_vfr_hud_get_groundspeed(msg);
 322         vfr_hud->alt = mavlink_msg_vfr_hud_get_alt(msg);
 323         vfr_hud->climb = mavlink_msg_vfr_hud_get_climb(msg);
 324         vfr_hud->heading = mavlink_msg_vfr_hud_get_heading(msg);
 325         vfr_hud->throttle = mavlink_msg_vfr_hud_get_throttle(msg);
 326 #else
 327         memcpy(vfr_hud, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_VFR_HUD_LEN);
 328 #endif
 329 }