lib/main/MAVLink/common/mavlink_msg_distance_sensor.h

   1 #pragma once
   2 // MESSAGE DISTANCE_SENSOR PACKING
   3
   4 #define MAVLINK_MSG_ID_DISTANCE_SENSOR 132
   5
   6 MAVPACKED(
   7 typedef struct __mavlink_distance_sensor_t {
   8  uint32_t time_boot_ms; /*< Time since system boot*/
   9  uint16_t min_distance; /*< Minimum distance the sensor can measure in centimeters*/
  10  uint16_t max_distance; /*< Maximum distance the sensor can measure in centimeters*/
  11  uint16_t current_distance; /*< Current distance reading*/
  12  uint8_t type; /*< Type from MAV_DISTANCE_SENSOR enum.*/
  13  uint8_t id; /*< Onboard ID of the sensor*/
  14  uint8_t orientation; /*< Direction the sensor faces from MAV_SENSOR_ORIENTATION enum.*/
  15  uint8_t covariance; /*< Measurement covariance in centimeters, 0 for unknown / invalid readings*/
  16 }) mavlink_distance_sensor_t;
  17
  18 #define MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN 14
  19 #define MAVLINK_MSG_ID_DISTANCE_SENSOR_MIN_LEN 14
  20 #define MAVLINK_MSG_ID_132_LEN 14
  21 #define MAVLINK_MSG_ID_132_MIN_LEN 14
  22
  23 #define MAVLINK_MSG_ID_DISTANCE_SENSOR_CRC 85
  24 #define MAVLINK_MSG_ID_132_CRC 85
  25
  26
  27
  28 #if MAVLINK_COMMAND_24BIT
  29 #define MAVLINK_MESSAGE_INFO_DISTANCE_SENSOR { \
  30     132, \
  31     "DISTANCE_SENSOR", \
  32     8, \
  33     {  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_distance_sensor_t, time_boot_ms) }, \
  34          { "min_distance", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_distance_sensor_t, min_distance) }, \
  35          { "max_distance", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_distance_sensor_t, max_distance) }, \
  36          { "current_distance", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_distance_sensor_t, current_distance) }, \
  37          { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 10, offsetof(mavlink_distance_sensor_t, type) }, \
  38          { "id", NULL, MAVLINK_TYPE_UINT8_T, 0, 11, offsetof(mavlink_distance_sensor_t, id) }, \
  39          { "orientation", NULL, MAVLINK_TYPE_UINT8_T, 0, 12, offsetof(mavlink_distance_sensor_t, orientation) }, \
  40          { "covariance", NULL, MAVLINK_TYPE_UINT8_T, 0, 13, offsetof(mavlink_distance_sensor_t, covariance) }, \
  41          } \
  42 }
  43 #else
  44 #define MAVLINK_MESSAGE_INFO_DISTANCE_SENSOR { \
  45     "DISTANCE_SENSOR", \
  46     8, \
  47     {  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_distance_sensor_t, time_boot_ms) }, \
  48          { "min_distance", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_distance_sensor_t, min_distance) }, \
  49          { "max_distance", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_distance_sensor_t, max_distance) }, \
  50          { "current_distance", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_distance_sensor_t, current_distance) }, \
  51          { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 10, offsetof(mavlink_distance_sensor_t, type) }, \
  52          { "id", NULL, MAVLINK_TYPE_UINT8_T, 0, 11, offsetof(mavlink_distance_sensor_t, id) }, \
  53          { "orientation", NULL, MAVLINK_TYPE_UINT8_T, 0, 12, offsetof(mavlink_distance_sensor_t, orientation) }, \
  54          { "covariance", NULL, MAVLINK_TYPE_UINT8_T, 0, 13, offsetof(mavlink_distance_sensor_t, covariance) }, \
  55          } \
  56 }
  57 #endif
  58
  59 /**
  60  * @brief Pack a distance_sensor message
  61  * @param system_id ID of this system
  62  * @param component_id ID of this component (e.g. 200 for IMU)
  63  * @param msg The MAVLink message to compress the data into
  64  *
  65  * @param time_boot_ms Time since system boot
  66  * @param min_distance Minimum distance the sensor can measure in centimeters
  67  * @param max_distance Maximum distance the sensor can measure in centimeters
  68  * @param current_distance Current distance reading
  69  * @param type Type from MAV_DISTANCE_SENSOR enum.
  70  * @param id Onboard ID of the sensor
  71  * @param orientation Direction the sensor faces from MAV_SENSOR_ORIENTATION enum.
  72  * @param covariance Measurement covariance in centimeters, 0 for unknown / invalid readings
  73  * @return length of the message in bytes (excluding serial stream start sign)
  74  */
  75 static inline uint16_t mavlink_msg_distance_sensor_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  76                                uint32_t time_boot_ms, uint16_t min_distance, uint16_t max_distance, uint16_t current_distance, uint8_t type, uint8_t id, uint8_t orientation, uint8_t covariance)
  77 {
  78 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  79     char buf[MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN];
  80     _mav_put_uint32_t(buf, 0, time_boot_ms);
  81     _mav_put_uint16_t(buf, 4, min_distance);
  82     _mav_put_uint16_t(buf, 6, max_distance);
  83     _mav_put_uint16_t(buf, 8, current_distance);
  84     _mav_put_uint8_t(buf, 10, type);
  85     _mav_put_uint8_t(buf, 11, id);
  86     _mav_put_uint8_t(buf, 12, orientation);
  87     _mav_put_uint8_t(buf, 13, covariance);
  88
  89         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN);
  90 #else
  91     mavlink_distance_sensor_t packet;
  92     packet.time_boot_ms = time_boot_ms;
  93     packet.min_distance = min_distance;
  94     packet.max_distance = max_distance;
  95     packet.current_distance = current_distance;
  96     packet.type = type;
  97     packet.id = id;
  98     packet.orientation = orientation;
  99     packet.covariance = covariance;
 100
 101         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN);
 102 #endif
 103
 104     msg->msgid = MAVLINK_MSG_ID_DISTANCE_SENSOR;
 105     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_DISTANCE_SENSOR_MIN_LEN, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN, MAVLINK_MSG_ID_DISTANCE_SENSOR_CRC);
 106 }
 107
 108 /**
 109  * @brief Pack a distance_sensor message on a channel
 110  * @param system_id ID of this system
 111  * @param component_id ID of this component (e.g. 200 for IMU)
 112  * @param chan The MAVLink channel this message will be sent over
 113  * @param msg The MAVLink message to compress the data into
 114  * @param time_boot_ms Time since system boot
 115  * @param min_distance Minimum distance the sensor can measure in centimeters
 116  * @param max_distance Maximum distance the sensor can measure in centimeters
 117  * @param current_distance Current distance reading
 118  * @param type Type from MAV_DISTANCE_SENSOR enum.
 119  * @param id Onboard ID of the sensor
 120  * @param orientation Direction the sensor faces from MAV_SENSOR_ORIENTATION enum.
 121  * @param covariance Measurement covariance in centimeters, 0 for unknown / invalid readings
 122  * @return length of the message in bytes (excluding serial stream start sign)
 123  */
 124 static inline uint16_t mavlink_msg_distance_sensor_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 125                                mavlink_message_t* msg,
 126                                    uint32_t time_boot_ms,uint16_t min_distance,uint16_t max_distance,uint16_t current_distance,uint8_t type,uint8_t id,uint8_t orientation,uint8_t covariance)
 127 {
 128 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 129     char buf[MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN];
 130     _mav_put_uint32_t(buf, 0, time_boot_ms);
 131     _mav_put_uint16_t(buf, 4, min_distance);
 132     _mav_put_uint16_t(buf, 6, max_distance);
 133     _mav_put_uint16_t(buf, 8, current_distance);
 134     _mav_put_uint8_t(buf, 10, type);
 135     _mav_put_uint8_t(buf, 11, id);
 136     _mav_put_uint8_t(buf, 12, orientation);
 137     _mav_put_uint8_t(buf, 13, covariance);
 138
 139         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN);
 140 #else
 141     mavlink_distance_sensor_t packet;
 142     packet.time_boot_ms = time_boot_ms;
 143     packet.min_distance = min_distance;
 144     packet.max_distance = max_distance;
 145     packet.current_distance = current_distance;
 146     packet.type = type;
 147     packet.id = id;
 148     packet.orientation = orientation;
 149     packet.covariance = covariance;
 150
 151         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN);
 152 #endif
 153
 154     msg->msgid = MAVLINK_MSG_ID_DISTANCE_SENSOR;
 155     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_DISTANCE_SENSOR_MIN_LEN, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN, MAVLINK_MSG_ID_DISTANCE_SENSOR_CRC);
 156 }
 157
 158 /**
 159  * @brief Encode a distance_sensor struct
 160  *
 161  * @param system_id ID of this system
 162  * @param component_id ID of this component (e.g. 200 for IMU)
 163  * @param msg The MAVLink message to compress the data into
 164  * @param distance_sensor C-struct to read the message contents from
 165  */
 166 static inline uint16_t mavlink_msg_distance_sensor_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_distance_sensor_t* distance_sensor)
 167 {
 168     return mavlink_msg_distance_sensor_pack(system_id, component_id, msg, distance_sensor->time_boot_ms, distance_sensor->min_distance, distance_sensor->max_distance, distance_sensor->current_distance, distance_sensor->type, distance_sensor->id, distance_sensor->orientation, distance_sensor->covariance);
 169 }
 170
 171 /**
 172  * @brief Encode a distance_sensor struct on a channel
 173  *
 174  * @param system_id ID of this system
 175  * @param component_id ID of this component (e.g. 200 for IMU)
 176  * @param chan The MAVLink channel this message will be sent over
 177  * @param msg The MAVLink message to compress the data into
 178  * @param distance_sensor C-struct to read the message contents from
 179  */
 180 static inline uint16_t mavlink_msg_distance_sensor_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_distance_sensor_t* distance_sensor)
 181 {
 182     return mavlink_msg_distance_sensor_pack_chan(system_id, component_id, chan, msg, distance_sensor->time_boot_ms, distance_sensor->min_distance, distance_sensor->max_distance, distance_sensor->current_distance, distance_sensor->type, distance_sensor->id, distance_sensor->orientation, distance_sensor->covariance);
 183 }
 184
 185 /**
 186  * @brief Send a distance_sensor message
 187  * @param chan MAVLink channel to send the message
 188  *
 189  * @param time_boot_ms Time since system boot
 190  * @param min_distance Minimum distance the sensor can measure in centimeters
 191  * @param max_distance Maximum distance the sensor can measure in centimeters
 192  * @param current_distance Current distance reading
 193  * @param type Type from MAV_DISTANCE_SENSOR enum.
 194  * @param id Onboard ID of the sensor
 195  * @param orientation Direction the sensor faces from MAV_SENSOR_ORIENTATION enum.
 196  * @param covariance Measurement covariance in centimeters, 0 for unknown / invalid readings
 197  */
 198 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 199
 200 static inline void mavlink_msg_distance_sensor_send(mavlink_channel_t chan, uint32_t time_boot_ms, uint16_t min_distance, uint16_t max_distance, uint16_t current_distance, uint8_t type, uint8_t id, uint8_t orientation, uint8_t covariance)
 201 {
 202 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 203     char buf[MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN];
 204     _mav_put_uint32_t(buf, 0, time_boot_ms);
 205     _mav_put_uint16_t(buf, 4, min_distance);
 206     _mav_put_uint16_t(buf, 6, max_distance);
 207     _mav_put_uint16_t(buf, 8, current_distance);
 208     _mav_put_uint8_t(buf, 10, type);
 209     _mav_put_uint8_t(buf, 11, id);
 210     _mav_put_uint8_t(buf, 12, orientation);
 211     _mav_put_uint8_t(buf, 13, covariance);
 212
 213     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DISTANCE_SENSOR, buf, MAVLINK_MSG_ID_DISTANCE_SENSOR_MIN_LEN, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN, MAVLINK_MSG_ID_DISTANCE_SENSOR_CRC);
 214 #else
 215     mavlink_distance_sensor_t packet;
 216     packet.time_boot_ms = time_boot_ms;
 217     packet.min_distance = min_distance;
 218     packet.max_distance = max_distance;
 219     packet.current_distance = current_distance;
 220     packet.type = type;
 221     packet.id = id;
 222     packet.orientation = orientation;
 223     packet.covariance = covariance;
 224
 225     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DISTANCE_SENSOR, (const char *)&packet, MAVLINK_MSG_ID_DISTANCE_SENSOR_MIN_LEN, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN, MAVLINK_MSG_ID_DISTANCE_SENSOR_CRC);
 226 #endif
 227 }
 228
 229 /**
 230  * @brief Send a distance_sensor message
 231  * @param chan MAVLink channel to send the message
 232  * @param struct The MAVLink struct to serialize
 233  */
 234 static inline void mavlink_msg_distance_sensor_send_struct(mavlink_channel_t chan, const mavlink_distance_sensor_t* distance_sensor)
 235 {
 236 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 237     mavlink_msg_distance_sensor_send(chan, distance_sensor->time_boot_ms, distance_sensor->min_distance, distance_sensor->max_distance, distance_sensor->current_distance, distance_sensor->type, distance_sensor->id, distance_sensor->orientation, distance_sensor->covariance);
 238 #else
 239     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DISTANCE_SENSOR, (const char *)distance_sensor, MAVLINK_MSG_ID_DISTANCE_SENSOR_MIN_LEN, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN, MAVLINK_MSG_ID_DISTANCE_SENSOR_CRC);
 240 #endif
 241 }
 242
 243 #if MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 244 /*
 245   This varient of _send() can be used to save stack space by re-using
 246   memory from the receive buffer.  The caller provides a
 247   mavlink_message_t which is the size of a full mavlink message. This
 248   is usually the receive buffer for the channel, and allows a reply to an
 249   incoming message with minimum stack space usage.
 250  */
 251 static inline void mavlink_msg_distance_sensor_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint32_t time_boot_ms, uint16_t min_distance, uint16_t max_distance, uint16_t current_distance, uint8_t type, uint8_t id, uint8_t orientation, uint8_t covariance)
 252 {
 253 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 254     char *buf = (char *)msgbuf;
 255     _mav_put_uint32_t(buf, 0, time_boot_ms);
 256     _mav_put_uint16_t(buf, 4, min_distance);
 257     _mav_put_uint16_t(buf, 6, max_distance);
 258     _mav_put_uint16_t(buf, 8, current_distance);
 259     _mav_put_uint8_t(buf, 10, type);
 260     _mav_put_uint8_t(buf, 11, id);
 261     _mav_put_uint8_t(buf, 12, orientation);
 262     _mav_put_uint8_t(buf, 13, covariance);
 263
 264     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DISTANCE_SENSOR, buf, MAVLINK_MSG_ID_DISTANCE_SENSOR_MIN_LEN, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN, MAVLINK_MSG_ID_DISTANCE_SENSOR_CRC);
 265 #else
 266     mavlink_distance_sensor_t *packet = (mavlink_distance_sensor_t *)msgbuf;
 267     packet->time_boot_ms = time_boot_ms;
 268     packet->min_distance = min_distance;
 269     packet->max_distance = max_distance;
 270     packet->current_distance = current_distance;
 271     packet->type = type;
 272     packet->id = id;
 273     packet->orientation = orientation;
 274     packet->covariance = covariance;
 275
 276     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DISTANCE_SENSOR, (const char *)packet, MAVLINK_MSG_ID_DISTANCE_SENSOR_MIN_LEN, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN, MAVLINK_MSG_ID_DISTANCE_SENSOR_CRC);
 277 #endif
 278 }
 279 #endif
 280
 281 #endif
 282
 283 // MESSAGE DISTANCE_SENSOR UNPACKING
 284
 285
 286 /**
 287  * @brief Get field time_boot_ms from distance_sensor message
 288  *
 289  * @return Time since system boot
 290  */
 291 static inline uint32_t mavlink_msg_distance_sensor_get_time_boot_ms(const mavlink_message_t* msg)
 292 {
 293     return _MAV_RETURN_uint32_t(msg,  0);
 294 }
 295
 296 /**
 297  * @brief Get field min_distance from distance_sensor message
 298  *
 299  * @return Minimum distance the sensor can measure in centimeters
 300  */
 301 static inline uint16_t mavlink_msg_distance_sensor_get_min_distance(const mavlink_message_t* msg)
 302 {
 303     return _MAV_RETURN_uint16_t(msg,  4);
 304 }
 305
 306 /**
 307  * @brief Get field max_distance from distance_sensor message
 308  *
 309  * @return Maximum distance the sensor can measure in centimeters
 310  */
 311 static inline uint16_t mavlink_msg_distance_sensor_get_max_distance(const mavlink_message_t* msg)
 312 {
 313     return _MAV_RETURN_uint16_t(msg,  6);
 314 }
 315
 316 /**
 317  * @brief Get field current_distance from distance_sensor message
 318  *
 319  * @return Current distance reading
 320  */
 321 static inline uint16_t mavlink_msg_distance_sensor_get_current_distance(const mavlink_message_t* msg)
 322 {
 323     return _MAV_RETURN_uint16_t(msg,  8);
 324 }
 325
 326 /**
 327  * @brief Get field type from distance_sensor message
 328  *
 329  * @return Type from MAV_DISTANCE_SENSOR enum.
 330  */
 331 static inline uint8_t mavlink_msg_distance_sensor_get_type(const mavlink_message_t* msg)
 332 {
 333     return _MAV_RETURN_uint8_t(msg,  10);
 334 }
 335
 336 /**
 337  * @brief Get field id from distance_sensor message
 338  *
 339  * @return Onboard ID of the sensor
 340  */
 341 static inline uint8_t mavlink_msg_distance_sensor_get_id(const mavlink_message_t* msg)
 342 {
 343     return _MAV_RETURN_uint8_t(msg,  11);
 344 }
 345
 346 /**
 347  * @brief Get field orientation from distance_sensor message
 348  *
 349  * @return Direction the sensor faces from MAV_SENSOR_ORIENTATION enum.
 350  */
 351 static inline uint8_t mavlink_msg_distance_sensor_get_orientation(const mavlink_message_t* msg)
 352 {
 353     return _MAV_RETURN_uint8_t(msg,  12);
 354 }
 355
 356 /**
 357  * @brief Get field covariance from distance_sensor message
 358  *
 359  * @return Measurement covariance in centimeters, 0 for unknown / invalid readings
 360  */
 361 static inline uint8_t mavlink_msg_distance_sensor_get_covariance(const mavlink_message_t* msg)
 362 {
 363     return _MAV_RETURN_uint8_t(msg,  13);
 364 }
 365
 366 /**
 367  * @brief Decode a distance_sensor message into a struct
 368  *
 369  * @param msg The message to decode
 370  * @param distance_sensor C-struct to decode the message contents into
 371  */
 372 static inline void mavlink_msg_distance_sensor_decode(const mavlink_message_t* msg, mavlink_distance_sensor_t* distance_sensor)
 373 {
 374 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 375     distance_sensor->time_boot_ms = mavlink_msg_distance_sensor_get_time_boot_ms(msg);
 376     distance_sensor->min_distance = mavlink_msg_distance_sensor_get_min_distance(msg);
 377     distance_sensor->max_distance = mavlink_msg_distance_sensor_get_max_distance(msg);
 378     distance_sensor->current_distance = mavlink_msg_distance_sensor_get_current_distance(msg);
 379     distance_sensor->type = mavlink_msg_distance_sensor_get_type(msg);
 380     distance_sensor->id = mavlink_msg_distance_sensor_get_id(msg);
 381     distance_sensor->orientation = mavlink_msg_distance_sensor_get_orientation(msg);
 382     distance_sensor->covariance = mavlink_msg_distance_sensor_get_covariance(msg);
 383 #else
 384         uint8_t len = msg->len < MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN? msg->len : MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN;
 385         memset(distance_sensor, 0, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN);
 386     memcpy(distance_sensor, _MAV_PAYLOAD(msg), len);
 387 #endif
 388 }