lib/main/MAVLink/common/mavlink_msg_hil_actuator_controls.h

   1 #pragma once
   2 // MESSAGE HIL_ACTUATOR_CONTROLS PACKING
   3
   4 #define MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS 93
   5
   6 MAVPACKED(
   7 typedef struct __mavlink_hil_actuator_controls_t {
   8  uint64_t time_usec; /*< Timestamp (microseconds since UNIX epoch or microseconds since system boot)*/
   9  uint64_t flags; /*< Flags as bitfield, reserved for future use.*/
  10  float controls[16]; /*< Control outputs -1 .. 1. Channel assignment depends on the simulated hardware.*/
  11  uint8_t mode; /*< System mode (MAV_MODE), includes arming state.*/
  12 }) mavlink_hil_actuator_controls_t;
  13
  14 #define MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN 81
  15 #define MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_MIN_LEN 81
  16 #define MAVLINK_MSG_ID_93_LEN 81
  17 #define MAVLINK_MSG_ID_93_MIN_LEN 81
  18
  19 #define MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_CRC 47
  20 #define MAVLINK_MSG_ID_93_CRC 47
  21
  22 #define MAVLINK_MSG_HIL_ACTUATOR_CONTROLS_FIELD_CONTROLS_LEN 16
  23
  24 #if MAVLINK_COMMAND_24BIT
  25 #define MAVLINK_MESSAGE_INFO_HIL_ACTUATOR_CONTROLS { \
  26     93, \
  27     "HIL_ACTUATOR_CONTROLS", \
  28     4, \
  29     {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_actuator_controls_t, time_usec) }, \
  30          { "flags", NULL, MAVLINK_TYPE_UINT64_T, 0, 8, offsetof(mavlink_hil_actuator_controls_t, flags) }, \
  31          { "controls", NULL, MAVLINK_TYPE_FLOAT, 16, 16, offsetof(mavlink_hil_actuator_controls_t, controls) }, \
  32          { "mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 80, offsetof(mavlink_hil_actuator_controls_t, mode) }, \
  33          } \
  34 }
  35 #else
  36 #define MAVLINK_MESSAGE_INFO_HIL_ACTUATOR_CONTROLS { \
  37     "HIL_ACTUATOR_CONTROLS", \
  38     4, \
  39     {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_actuator_controls_t, time_usec) }, \
  40          { "flags", NULL, MAVLINK_TYPE_UINT64_T, 0, 8, offsetof(mavlink_hil_actuator_controls_t, flags) }, \
  41          { "controls", NULL, MAVLINK_TYPE_FLOAT, 16, 16, offsetof(mavlink_hil_actuator_controls_t, controls) }, \
  42          { "mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 80, offsetof(mavlink_hil_actuator_controls_t, mode) }, \
  43          } \
  44 }
  45 #endif
  46
  47 /**
  48  * @brief Pack a hil_actuator_controls message
  49  * @param system_id ID of this system
  50  * @param component_id ID of this component (e.g. 200 for IMU)
  51  * @param msg The MAVLink message to compress the data into
  52  *
  53  * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
  54  * @param controls Control outputs -1 .. 1. Channel assignment depends on the simulated hardware.
  55  * @param mode System mode (MAV_MODE), includes arming state.
  56  * @param flags Flags as bitfield, reserved for future use.
  57  * @return length of the message in bytes (excluding serial stream start sign)
  58  */
  59 static inline uint16_t mavlink_msg_hil_actuator_controls_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  60                                uint64_t time_usec, const float *controls, uint8_t mode, uint64_t flags)
  61 {
  62 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  63     char buf[MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN];
  64     _mav_put_uint64_t(buf, 0, time_usec);
  65     _mav_put_uint64_t(buf, 8, flags);
  66     _mav_put_uint8_t(buf, 80, mode);
  67     _mav_put_float_array(buf, 16, controls, 16);
  68         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN);
  69 #else
  70     mavlink_hil_actuator_controls_t packet;
  71     packet.time_usec = time_usec;
  72     packet.flags = flags;
  73     packet.mode = mode;
  74     mav_array_memcpy(packet.controls, controls, sizeof(float)*16);
  75         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN);
  76 #endif
  77
  78     msg->msgid = MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS;
  79     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_MIN_LEN, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_CRC);
  80 }
  81
  82 /**
  83  * @brief Pack a hil_actuator_controls message on a channel
  84  * @param system_id ID of this system
  85  * @param component_id ID of this component (e.g. 200 for IMU)
  86  * @param chan The MAVLink channel this message will be sent over
  87  * @param msg The MAVLink message to compress the data into
  88  * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
  89  * @param controls Control outputs -1 .. 1. Channel assignment depends on the simulated hardware.
  90  * @param mode System mode (MAV_MODE), includes arming state.
  91  * @param flags Flags as bitfield, reserved for future use.
  92  * @return length of the message in bytes (excluding serial stream start sign)
  93  */
  94 static inline uint16_t mavlink_msg_hil_actuator_controls_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
  95                                mavlink_message_t* msg,
  96                                    uint64_t time_usec,const float *controls,uint8_t mode,uint64_t flags)
  97 {
  98 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  99     char buf[MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN];
 100     _mav_put_uint64_t(buf, 0, time_usec);
 101     _mav_put_uint64_t(buf, 8, flags);
 102     _mav_put_uint8_t(buf, 80, mode);
 103     _mav_put_float_array(buf, 16, controls, 16);
 104         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN);
 105 #else
 106     mavlink_hil_actuator_controls_t packet;
 107     packet.time_usec = time_usec;
 108     packet.flags = flags;
 109     packet.mode = mode;
 110     mav_array_memcpy(packet.controls, controls, sizeof(float)*16);
 111         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN);
 112 #endif
 113
 114     msg->msgid = MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS;
 115     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_MIN_LEN, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_CRC);
 116 }
 117
 118 /**
 119  * @brief Encode a hil_actuator_controls struct
 120  *
 121  * @param system_id ID of this system
 122  * @param component_id ID of this component (e.g. 200 for IMU)
 123  * @param msg The MAVLink message to compress the data into
 124  * @param hil_actuator_controls C-struct to read the message contents from
 125  */
 126 static inline uint16_t mavlink_msg_hil_actuator_controls_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hil_actuator_controls_t* hil_actuator_controls)
 127 {
 128     return mavlink_msg_hil_actuator_controls_pack(system_id, component_id, msg, hil_actuator_controls->time_usec, hil_actuator_controls->controls, hil_actuator_controls->mode, hil_actuator_controls->flags);
 129 }
 130
 131 /**
 132  * @brief Encode a hil_actuator_controls struct on a channel
 133  *
 134  * @param system_id ID of this system
 135  * @param component_id ID of this component (e.g. 200 for IMU)
 136  * @param chan The MAVLink channel this message will be sent over
 137  * @param msg The MAVLink message to compress the data into
 138  * @param hil_actuator_controls C-struct to read the message contents from
 139  */
 140 static inline uint16_t mavlink_msg_hil_actuator_controls_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_hil_actuator_controls_t* hil_actuator_controls)
 141 {
 142     return mavlink_msg_hil_actuator_controls_pack_chan(system_id, component_id, chan, msg, hil_actuator_controls->time_usec, hil_actuator_controls->controls, hil_actuator_controls->mode, hil_actuator_controls->flags);
 143 }
 144
 145 /**
 146  * @brief Send a hil_actuator_controls message
 147  * @param chan MAVLink channel to send the message
 148  *
 149  * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
 150  * @param controls Control outputs -1 .. 1. Channel assignment depends on the simulated hardware.
 151  * @param mode System mode (MAV_MODE), includes arming state.
 152  * @param flags Flags as bitfield, reserved for future use.
 153  */
 154 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 155
 156 static inline void mavlink_msg_hil_actuator_controls_send(mavlink_channel_t chan, uint64_t time_usec, const float *controls, uint8_t mode, uint64_t flags)
 157 {
 158 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 159     char buf[MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN];
 160     _mav_put_uint64_t(buf, 0, time_usec);
 161     _mav_put_uint64_t(buf, 8, flags);
 162     _mav_put_uint8_t(buf, 80, mode);
 163     _mav_put_float_array(buf, 16, controls, 16);
 164     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS, buf, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_MIN_LEN, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_CRC);
 165 #else
 166     mavlink_hil_actuator_controls_t packet;
 167     packet.time_usec = time_usec;
 168     packet.flags = flags;
 169     packet.mode = mode;
 170     mav_array_memcpy(packet.controls, controls, sizeof(float)*16);
 171     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS, (const char *)&packet, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_MIN_LEN, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_CRC);
 172 #endif
 173 }
 174
 175 /**
 176  * @brief Send a hil_actuator_controls message
 177  * @param chan MAVLink channel to send the message
 178  * @param struct The MAVLink struct to serialize
 179  */
 180 static inline void mavlink_msg_hil_actuator_controls_send_struct(mavlink_channel_t chan, const mavlink_hil_actuator_controls_t* hil_actuator_controls)
 181 {
 182 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 183     mavlink_msg_hil_actuator_controls_send(chan, hil_actuator_controls->time_usec, hil_actuator_controls->controls, hil_actuator_controls->mode, hil_actuator_controls->flags);
 184 #else
 185     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS, (const char *)hil_actuator_controls, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_MIN_LEN, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_CRC);
 186 #endif
 187 }
 188
 189 #if MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 190 /*
 191   This varient of _send() can be used to save stack space by re-using
 192   memory from the receive buffer.  The caller provides a
 193   mavlink_message_t which is the size of a full mavlink message. This
 194   is usually the receive buffer for the channel, and allows a reply to an
 195   incoming message with minimum stack space usage.
 196  */
 197 static inline void mavlink_msg_hil_actuator_controls_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint64_t time_usec, const float *controls, uint8_t mode, uint64_t flags)
 198 {
 199 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 200     char *buf = (char *)msgbuf;
 201     _mav_put_uint64_t(buf, 0, time_usec);
 202     _mav_put_uint64_t(buf, 8, flags);
 203     _mav_put_uint8_t(buf, 80, mode);
 204     _mav_put_float_array(buf, 16, controls, 16);
 205     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS, buf, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_MIN_LEN, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_CRC);
 206 #else
 207     mavlink_hil_actuator_controls_t *packet = (mavlink_hil_actuator_controls_t *)msgbuf;
 208     packet->time_usec = time_usec;
 209     packet->flags = flags;
 210     packet->mode = mode;
 211     mav_array_memcpy(packet->controls, controls, sizeof(float)*16);
 212     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS, (const char *)packet, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_MIN_LEN, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_CRC);
 213 #endif
 214 }
 215 #endif
 216
 217 #endif
 218
 219 // MESSAGE HIL_ACTUATOR_CONTROLS UNPACKING
 220
 221
 222 /**
 223  * @brief Get field time_usec from hil_actuator_controls message
 224  *
 225  * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)
 226  */
 227 static inline uint64_t mavlink_msg_hil_actuator_controls_get_time_usec(const mavlink_message_t* msg)
 228 {
 229     return _MAV_RETURN_uint64_t(msg,  0);
 230 }
 231
 232 /**
 233  * @brief Get field controls from hil_actuator_controls message
 234  *
 235  * @return Control outputs -1 .. 1. Channel assignment depends on the simulated hardware.
 236  */
 237 static inline uint16_t mavlink_msg_hil_actuator_controls_get_controls(const mavlink_message_t* msg, float *controls)
 238 {
 239     return _MAV_RETURN_float_array(msg, controls, 16,  16);
 240 }
 241
 242 /**
 243  * @brief Get field mode from hil_actuator_controls message
 244  *
 245  * @return System mode (MAV_MODE), includes arming state.
 246  */
 247 static inline uint8_t mavlink_msg_hil_actuator_controls_get_mode(const mavlink_message_t* msg)
 248 {
 249     return _MAV_RETURN_uint8_t(msg,  80);
 250 }
 251
 252 /**
 253  * @brief Get field flags from hil_actuator_controls message
 254  *
 255  * @return Flags as bitfield, reserved for future use.
 256  */
 257 static inline uint64_t mavlink_msg_hil_actuator_controls_get_flags(const mavlink_message_t* msg)
 258 {
 259     return _MAV_RETURN_uint64_t(msg,  8);
 260 }
 261
 262 /**
 263  * @brief Decode a hil_actuator_controls message into a struct
 264  *
 265  * @param msg The message to decode
 266  * @param hil_actuator_controls C-struct to decode the message contents into
 267  */
 268 static inline void mavlink_msg_hil_actuator_controls_decode(const mavlink_message_t* msg, mavlink_hil_actuator_controls_t* hil_actuator_controls)
 269 {
 270 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 271     hil_actuator_controls->time_usec = mavlink_msg_hil_actuator_controls_get_time_usec(msg);
 272     hil_actuator_controls->flags = mavlink_msg_hil_actuator_controls_get_flags(msg);
 273     mavlink_msg_hil_actuator_controls_get_controls(msg, hil_actuator_controls->controls);
 274     hil_actuator_controls->mode = mavlink_msg_hil_actuator_controls_get_mode(msg);
 275 #else
 276         uint8_t len = msg->len < MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN? msg->len : MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN;
 277         memset(hil_actuator_controls, 0, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN);
 278     memcpy(hil_actuator_controls, _MAV_PAYLOAD(msg), len);
 279 #endif
 280 }