lib/main/MAVLink/common/mavlink_msg_actuator_control_target.h

   1 #pragma once
   2 // MESSAGE ACTUATOR_CONTROL_TARGET PACKING
   3
   4 #define MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET 140
   5
   6 MAVPACKED(
   7 typedef struct __mavlink_actuator_control_target_t {
   8  uint64_t time_usec; /*< Timestamp (micros since boot or Unix epoch)*/
   9  float controls[8]; /*< Actuator controls. Normed to -1..+1 where 0 is neutral position. Throttle for single rotation direction motors is 0..1, negative range for reverse direction. Standard mapping for attitude controls (group 0): (index 0-7): roll, pitch, yaw, throttle, flaps, spoilers, airbrakes, landing gear. Load a pass-through mixer to repurpose them as generic outputs.*/
  10  uint8_t group_mlx; /*< Actuator group. The "_mlx" indicates this is a multi-instance message and a MAVLink parser should use this field to difference between instances.*/
  11 }) mavlink_actuator_control_target_t;
  12
  13 #define MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN 41
  14 #define MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_MIN_LEN 41
  15 #define MAVLINK_MSG_ID_140_LEN 41
  16 #define MAVLINK_MSG_ID_140_MIN_LEN 41
  17
  18 #define MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_CRC 181
  19 #define MAVLINK_MSG_ID_140_CRC 181
  20
  21 #define MAVLINK_MSG_ACTUATOR_CONTROL_TARGET_FIELD_CONTROLS_LEN 8
  22
  23 #if MAVLINK_COMMAND_24BIT
  24 #define MAVLINK_MESSAGE_INFO_ACTUATOR_CONTROL_TARGET { \
  25     140, \
  26     "ACTUATOR_CONTROL_TARGET", \
  27     3, \
  28     {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_actuator_control_target_t, time_usec) }, \
  29          { "controls", NULL, MAVLINK_TYPE_FLOAT, 8, 8, offsetof(mavlink_actuator_control_target_t, controls) }, \
  30          { "group_mlx", NULL, MAVLINK_TYPE_UINT8_T, 0, 40, offsetof(mavlink_actuator_control_target_t, group_mlx) }, \
  31          } \
  32 }
  33 #else
  34 #define MAVLINK_MESSAGE_INFO_ACTUATOR_CONTROL_TARGET { \
  35     "ACTUATOR_CONTROL_TARGET", \
  36     3, \
  37     {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_actuator_control_target_t, time_usec) }, \
  38          { "controls", NULL, MAVLINK_TYPE_FLOAT, 8, 8, offsetof(mavlink_actuator_control_target_t, controls) }, \
  39          { "group_mlx", NULL, MAVLINK_TYPE_UINT8_T, 0, 40, offsetof(mavlink_actuator_control_target_t, group_mlx) }, \
  40          } \
  41 }
  42 #endif
  43
  44 /**
  45  * @brief Pack a actuator_control_target message
  46  * @param system_id ID of this system
  47  * @param component_id ID of this component (e.g. 200 for IMU)
  48  * @param msg The MAVLink message to compress the data into
  49  *
  50  * @param time_usec Timestamp (micros since boot or Unix epoch)
  51  * @param group_mlx Actuator group. The "_mlx" indicates this is a multi-instance message and a MAVLink parser should use this field to difference between instances.
  52  * @param controls Actuator controls. Normed to -1..+1 where 0 is neutral position. Throttle for single rotation direction motors is 0..1, negative range for reverse direction. Standard mapping for attitude controls (group 0): (index 0-7): roll, pitch, yaw, throttle, flaps, spoilers, airbrakes, landing gear. Load a pass-through mixer to repurpose them as generic outputs.
  53  * @return length of the message in bytes (excluding serial stream start sign)
  54  */
  55 static inline uint16_t mavlink_msg_actuator_control_target_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  56                                uint64_t time_usec, uint8_t group_mlx, const float *controls)
  57 {
  58 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  59     char buf[MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN];
  60     _mav_put_uint64_t(buf, 0, time_usec);
  61     _mav_put_uint8_t(buf, 40, group_mlx);
  62     _mav_put_float_array(buf, 8, controls, 8);
  63         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN);
  64 #else
  65     mavlink_actuator_control_target_t packet;
  66     packet.time_usec = time_usec;
  67     packet.group_mlx = group_mlx;
  68     mav_array_memcpy(packet.controls, controls, sizeof(float)*8);
  69         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN);
  70 #endif
  71
  72     msg->msgid = MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET;
  73     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_MIN_LEN, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_CRC);
  74 }
  75
  76 /**
  77  * @brief Pack a actuator_control_target message on a channel
  78  * @param system_id ID of this system
  79  * @param component_id ID of this component (e.g. 200 for IMU)
  80  * @param chan The MAVLink channel this message will be sent over
  81  * @param msg The MAVLink message to compress the data into
  82  * @param time_usec Timestamp (micros since boot or Unix epoch)
  83  * @param group_mlx Actuator group. The "_mlx" indicates this is a multi-instance message and a MAVLink parser should use this field to difference between instances.
  84  * @param controls Actuator controls. Normed to -1..+1 where 0 is neutral position. Throttle for single rotation direction motors is 0..1, negative range for reverse direction. Standard mapping for attitude controls (group 0): (index 0-7): roll, pitch, yaw, throttle, flaps, spoilers, airbrakes, landing gear. Load a pass-through mixer to repurpose them as generic outputs.
  85  * @return length of the message in bytes (excluding serial stream start sign)
  86  */
  87 static inline uint16_t mavlink_msg_actuator_control_target_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
  88                                mavlink_message_t* msg,
  89                                    uint64_t time_usec,uint8_t group_mlx,const float *controls)
  90 {
  91 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  92     char buf[MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN];
  93     _mav_put_uint64_t(buf, 0, time_usec);
  94     _mav_put_uint8_t(buf, 40, group_mlx);
  95     _mav_put_float_array(buf, 8, controls, 8);
  96         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN);
  97 #else
  98     mavlink_actuator_control_target_t packet;
  99     packet.time_usec = time_usec;
 100     packet.group_mlx = group_mlx;
 101     mav_array_memcpy(packet.controls, controls, sizeof(float)*8);
 102         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN);
 103 #endif
 104
 105     msg->msgid = MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET;
 106     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_MIN_LEN, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_CRC);
 107 }
 108
 109 /**
 110  * @brief Encode a actuator_control_target struct
 111  *
 112  * @param system_id ID of this system
 113  * @param component_id ID of this component (e.g. 200 for IMU)
 114  * @param msg The MAVLink message to compress the data into
 115  * @param actuator_control_target C-struct to read the message contents from
 116  */
 117 static inline uint16_t mavlink_msg_actuator_control_target_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_actuator_control_target_t* actuator_control_target)
 118 {
 119     return mavlink_msg_actuator_control_target_pack(system_id, component_id, msg, actuator_control_target->time_usec, actuator_control_target->group_mlx, actuator_control_target->controls);
 120 }
 121
 122 /**
 123  * @brief Encode a actuator_control_target struct on a channel
 124  *
 125  * @param system_id ID of this system
 126  * @param component_id ID of this component (e.g. 200 for IMU)
 127  * @param chan The MAVLink channel this message will be sent over
 128  * @param msg The MAVLink message to compress the data into
 129  * @param actuator_control_target C-struct to read the message contents from
 130  */
 131 static inline uint16_t mavlink_msg_actuator_control_target_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_actuator_control_target_t* actuator_control_target)
 132 {
 133     return mavlink_msg_actuator_control_target_pack_chan(system_id, component_id, chan, msg, actuator_control_target->time_usec, actuator_control_target->group_mlx, actuator_control_target->controls);
 134 }
 135
 136 /**
 137  * @brief Send a actuator_control_target message
 138  * @param chan MAVLink channel to send the message
 139  *
 140  * @param time_usec Timestamp (micros since boot or Unix epoch)
 141  * @param group_mlx Actuator group. The "_mlx" indicates this is a multi-instance message and a MAVLink parser should use this field to difference between instances.
 142  * @param controls Actuator controls. Normed to -1..+1 where 0 is neutral position. Throttle for single rotation direction motors is 0..1, negative range for reverse direction. Standard mapping for attitude controls (group 0): (index 0-7): roll, pitch, yaw, throttle, flaps, spoilers, airbrakes, landing gear. Load a pass-through mixer to repurpose them as generic outputs.
 143  */
 144 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 145
 146 static inline void mavlink_msg_actuator_control_target_send(mavlink_channel_t chan, uint64_t time_usec, uint8_t group_mlx, const float *controls)
 147 {
 148 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 149     char buf[MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN];
 150     _mav_put_uint64_t(buf, 0, time_usec);
 151     _mav_put_uint8_t(buf, 40, group_mlx);
 152     _mav_put_float_array(buf, 8, controls, 8);
 153     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET, buf, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_MIN_LEN, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_CRC);
 154 #else
 155     mavlink_actuator_control_target_t packet;
 156     packet.time_usec = time_usec;
 157     packet.group_mlx = group_mlx;
 158     mav_array_memcpy(packet.controls, controls, sizeof(float)*8);
 159     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET, (const char *)&packet, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_MIN_LEN, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_CRC);
 160 #endif
 161 }
 162
 163 /**
 164  * @brief Send a actuator_control_target message
 165  * @param chan MAVLink channel to send the message
 166  * @param struct The MAVLink struct to serialize
 167  */
 168 static inline void mavlink_msg_actuator_control_target_send_struct(mavlink_channel_t chan, const mavlink_actuator_control_target_t* actuator_control_target)
 169 {
 170 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 171     mavlink_msg_actuator_control_target_send(chan, actuator_control_target->time_usec, actuator_control_target->group_mlx, actuator_control_target->controls);
 172 #else
 173     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET, (const char *)actuator_control_target, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_MIN_LEN, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_CRC);
 174 #endif
 175 }
 176
 177 #if MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 178 /*
 179   This varient of _send() can be used to save stack space by re-using
 180   memory from the receive buffer.  The caller provides a
 181   mavlink_message_t which is the size of a full mavlink message. This
 182   is usually the receive buffer for the channel, and allows a reply to an
 183   incoming message with minimum stack space usage.
 184  */
 185 static inline void mavlink_msg_actuator_control_target_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint64_t time_usec, uint8_t group_mlx, const float *controls)
 186 {
 187 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 188     char *buf = (char *)msgbuf;
 189     _mav_put_uint64_t(buf, 0, time_usec);
 190     _mav_put_uint8_t(buf, 40, group_mlx);
 191     _mav_put_float_array(buf, 8, controls, 8);
 192     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET, buf, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_MIN_LEN, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_CRC);
 193 #else
 194     mavlink_actuator_control_target_t *packet = (mavlink_actuator_control_target_t *)msgbuf;
 195     packet->time_usec = time_usec;
 196     packet->group_mlx = group_mlx;
 197     mav_array_memcpy(packet->controls, controls, sizeof(float)*8);
 198     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET, (const char *)packet, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_MIN_LEN, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_CRC);
 199 #endif
 200 }
 201 #endif
 202
 203 #endif
 204
 205 // MESSAGE ACTUATOR_CONTROL_TARGET UNPACKING
 206
 207
 208 /**
 209  * @brief Get field time_usec from actuator_control_target message
 210  *
 211  * @return Timestamp (micros since boot or Unix epoch)
 212  */
 213 static inline uint64_t mavlink_msg_actuator_control_target_get_time_usec(const mavlink_message_t* msg)
 214 {
 215     return _MAV_RETURN_uint64_t(msg,  0);
 216 }
 217
 218 /**
 219  * @brief Get field group_mlx from actuator_control_target message
 220  *
 221  * @return Actuator group. The "_mlx" indicates this is a multi-instance message and a MAVLink parser should use this field to difference between instances.
 222  */
 223 static inline uint8_t mavlink_msg_actuator_control_target_get_group_mlx(const mavlink_message_t* msg)
 224 {
 225     return _MAV_RETURN_uint8_t(msg,  40);
 226 }
 227
 228 /**
 229  * @brief Get field controls from actuator_control_target message
 230  *
 231  * @return Actuator controls. Normed to -1..+1 where 0 is neutral position. Throttle for single rotation direction motors is 0..1, negative range for reverse direction. Standard mapping for attitude controls (group 0): (index 0-7): roll, pitch, yaw, throttle, flaps, spoilers, airbrakes, landing gear. Load a pass-through mixer to repurpose them as generic outputs.
 232  */
 233 static inline uint16_t mavlink_msg_actuator_control_target_get_controls(const mavlink_message_t* msg, float *controls)
 234 {
 235     return _MAV_RETURN_float_array(msg, controls, 8,  8);
 236 }
 237
 238 /**
 239  * @brief Decode a actuator_control_target message into a struct
 240  *
 241  * @param msg The message to decode
 242  * @param actuator_control_target C-struct to decode the message contents into
 243  */
 244 static inline void mavlink_msg_actuator_control_target_decode(const mavlink_message_t* msg, mavlink_actuator_control_target_t* actuator_control_target)
 245 {
 246 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 247     actuator_control_target->time_usec = mavlink_msg_actuator_control_target_get_time_usec(msg);
 248     mavlink_msg_actuator_control_target_get_controls(msg, actuator_control_target->controls);
 249     actuator_control_target->group_mlx = mavlink_msg_actuator_control_target_get_group_mlx(msg);
 250 #else
 251         uint8_t len = msg->len < MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN? msg->len : MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN;
 252         memset(actuator_control_target, 0, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN);
 253     memcpy(actuator_control_target, _MAV_PAYLOAD(msg), len);
 254 #endif
 255 }