lib/main/MAVLink/common/mavlink_msg_manual_control.h

   1 #pragma once
   2 // MESSAGE MANUAL_CONTROL PACKING
   3
   4 #define MAVLINK_MSG_ID_MANUAL_CONTROL 69
   5
   6 MAVPACKED(
   7 typedef struct __mavlink_manual_control_t {
   8  int16_t x; /*< X-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to forward(1000)-backward(-1000) movement on a joystick and the pitch of a vehicle.*/
   9  int16_t y; /*< Y-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to left(-1000)-right(1000) movement on a joystick and the roll of a vehicle.*/
  10  int16_t z; /*< Z-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a separate slider movement with maximum being 1000 and minimum being -1000 on a joystick and the thrust of a vehicle. Positive values are positive thrust, negative values are negative thrust.*/
  11  int16_t r; /*< R-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a twisting of the joystick, with counter-clockwise being 1000 and clockwise being -1000, and the yaw of a vehicle.*/
  12  uint16_t buttons; /*< A bitfield corresponding to the joystick buttons' current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 1.*/
  13  uint8_t target; /*< The system to be controlled.*/
  14 }) mavlink_manual_control_t;
  15
  16 #define MAVLINK_MSG_ID_MANUAL_CONTROL_LEN 11
  17 #define MAVLINK_MSG_ID_MANUAL_CONTROL_MIN_LEN 11
  18 #define MAVLINK_MSG_ID_69_LEN 11
  19 #define MAVLINK_MSG_ID_69_MIN_LEN 11
  20
  21 #define MAVLINK_MSG_ID_MANUAL_CONTROL_CRC 243
  22 #define MAVLINK_MSG_ID_69_CRC 243
  23
  24
  25
  26 #if MAVLINK_COMMAND_24BIT
  27 #define MAVLINK_MESSAGE_INFO_MANUAL_CONTROL { \
  28     69, \
  29     "MANUAL_CONTROL", \
  30     6, \
  31     {  { "x", NULL, MAVLINK_TYPE_INT16_T, 0, 0, offsetof(mavlink_manual_control_t, x) }, \
  32          { "y", NULL, MAVLINK_TYPE_INT16_T, 0, 2, offsetof(mavlink_manual_control_t, y) }, \
  33          { "z", NULL, MAVLINK_TYPE_INT16_T, 0, 4, offsetof(mavlink_manual_control_t, z) }, \
  34          { "r", NULL, MAVLINK_TYPE_INT16_T, 0, 6, offsetof(mavlink_manual_control_t, r) }, \
  35          { "buttons", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_manual_control_t, buttons) }, \
  36          { "target", NULL, MAVLINK_TYPE_UINT8_T, 0, 10, offsetof(mavlink_manual_control_t, target) }, \
  37          } \
  38 }
  39 #else
  40 #define MAVLINK_MESSAGE_INFO_MANUAL_CONTROL { \
  41     "MANUAL_CONTROL", \
  42     6, \
  43     {  { "x", NULL, MAVLINK_TYPE_INT16_T, 0, 0, offsetof(mavlink_manual_control_t, x) }, \
  44          { "y", NULL, MAVLINK_TYPE_INT16_T, 0, 2, offsetof(mavlink_manual_control_t, y) }, \
  45          { "z", NULL, MAVLINK_TYPE_INT16_T, 0, 4, offsetof(mavlink_manual_control_t, z) }, \
  46          { "r", NULL, MAVLINK_TYPE_INT16_T, 0, 6, offsetof(mavlink_manual_control_t, r) }, \
  47          { "buttons", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_manual_control_t, buttons) }, \
  48          { "target", NULL, MAVLINK_TYPE_UINT8_T, 0, 10, offsetof(mavlink_manual_control_t, target) }, \
  49          } \
  50 }
  51 #endif
  52
  53 /**
  54  * @brief Pack a manual_control message
  55  * @param system_id ID of this system
  56  * @param component_id ID of this component (e.g. 200 for IMU)
  57  * @param msg The MAVLink message to compress the data into
  58  *
  59  * @param target The system to be controlled.
  60  * @param x X-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to forward(1000)-backward(-1000) movement on a joystick and the pitch of a vehicle.
  61  * @param y Y-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to left(-1000)-right(1000) movement on a joystick and the roll of a vehicle.
  62  * @param z Z-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a separate slider movement with maximum being 1000 and minimum being -1000 on a joystick and the thrust of a vehicle. Positive values are positive thrust, negative values are negative thrust.
  63  * @param r R-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a twisting of the joystick, with counter-clockwise being 1000 and clockwise being -1000, and the yaw of a vehicle.
  64  * @param buttons A bitfield corresponding to the joystick buttons' current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 1.
  65  * @return length of the message in bytes (excluding serial stream start sign)
  66  */
  67 static inline uint16_t mavlink_msg_manual_control_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  68                                uint8_t target, int16_t x, int16_t y, int16_t z, int16_t r, uint16_t buttons)
  69 {
  70 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  71     char buf[MAVLINK_MSG_ID_MANUAL_CONTROL_LEN];
  72     _mav_put_int16_t(buf, 0, x);
  73     _mav_put_int16_t(buf, 2, y);
  74     _mav_put_int16_t(buf, 4, z);
  75     _mav_put_int16_t(buf, 6, r);
  76     _mav_put_uint16_t(buf, 8, buttons);
  77     _mav_put_uint8_t(buf, 10, target);
  78
  79         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN);
  80 #else
  81     mavlink_manual_control_t packet;
  82     packet.x = x;
  83     packet.y = y;
  84     packet.z = z;
  85     packet.r = r;
  86     packet.buttons = buttons;
  87     packet.target = target;
  88
  89         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN);
  90 #endif
  91
  92     msg->msgid = MAVLINK_MSG_ID_MANUAL_CONTROL;
  93     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_MANUAL_CONTROL_MIN_LEN, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN, MAVLINK_MSG_ID_MANUAL_CONTROL_CRC);
  94 }
  95
  96 /**
  97  * @brief Pack a manual_control message on a channel
  98  * @param system_id ID of this system
  99  * @param component_id ID of this component (e.g. 200 for IMU)
 100  * @param chan The MAVLink channel this message will be sent over
 101  * @param msg The MAVLink message to compress the data into
 102  * @param target The system to be controlled.
 103  * @param x X-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to forward(1000)-backward(-1000) movement on a joystick and the pitch of a vehicle.
 104  * @param y Y-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to left(-1000)-right(1000) movement on a joystick and the roll of a vehicle.
 105  * @param z Z-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a separate slider movement with maximum being 1000 and minimum being -1000 on a joystick and the thrust of a vehicle. Positive values are positive thrust, negative values are negative thrust.
 106  * @param r R-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a twisting of the joystick, with counter-clockwise being 1000 and clockwise being -1000, and the yaw of a vehicle.
 107  * @param buttons A bitfield corresponding to the joystick buttons' current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 1.
 108  * @return length of the message in bytes (excluding serial stream start sign)
 109  */
 110 static inline uint16_t mavlink_msg_manual_control_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 111                                mavlink_message_t* msg,
 112                                    uint8_t target,int16_t x,int16_t y,int16_t z,int16_t r,uint16_t buttons)
 113 {
 114 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 115     char buf[MAVLINK_MSG_ID_MANUAL_CONTROL_LEN];
 116     _mav_put_int16_t(buf, 0, x);
 117     _mav_put_int16_t(buf, 2, y);
 118     _mav_put_int16_t(buf, 4, z);
 119     _mav_put_int16_t(buf, 6, r);
 120     _mav_put_uint16_t(buf, 8, buttons);
 121     _mav_put_uint8_t(buf, 10, target);
 122
 123         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN);
 124 #else
 125     mavlink_manual_control_t packet;
 126     packet.x = x;
 127     packet.y = y;
 128     packet.z = z;
 129     packet.r = r;
 130     packet.buttons = buttons;
 131     packet.target = target;
 132
 133         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN);
 134 #endif
 135
 136     msg->msgid = MAVLINK_MSG_ID_MANUAL_CONTROL;
 137     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_MANUAL_CONTROL_MIN_LEN, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN, MAVLINK_MSG_ID_MANUAL_CONTROL_CRC);
 138 }
 139
 140 /**
 141  * @brief Encode a manual_control struct
 142  *
 143  * @param system_id ID of this system
 144  * @param component_id ID of this component (e.g. 200 for IMU)
 145  * @param msg The MAVLink message to compress the data into
 146  * @param manual_control C-struct to read the message contents from
 147  */
 148 static inline uint16_t mavlink_msg_manual_control_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_manual_control_t* manual_control)
 149 {
 150     return mavlink_msg_manual_control_pack(system_id, component_id, msg, manual_control->target, manual_control->x, manual_control->y, manual_control->z, manual_control->r, manual_control->buttons);
 151 }
 152
 153 /**
 154  * @brief Encode a manual_control struct on a channel
 155  *
 156  * @param system_id ID of this system
 157  * @param component_id ID of this component (e.g. 200 for IMU)
 158  * @param chan The MAVLink channel this message will be sent over
 159  * @param msg The MAVLink message to compress the data into
 160  * @param manual_control C-struct to read the message contents from
 161  */
 162 static inline uint16_t mavlink_msg_manual_control_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_manual_control_t* manual_control)
 163 {
 164     return mavlink_msg_manual_control_pack_chan(system_id, component_id, chan, msg, manual_control->target, manual_control->x, manual_control->y, manual_control->z, manual_control->r, manual_control->buttons);
 165 }
 166
 167 /**
 168  * @brief Send a manual_control message
 169  * @param chan MAVLink channel to send the message
 170  *
 171  * @param target The system to be controlled.
 172  * @param x X-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to forward(1000)-backward(-1000) movement on a joystick and the pitch of a vehicle.
 173  * @param y Y-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to left(-1000)-right(1000) movement on a joystick and the roll of a vehicle.
 174  * @param z Z-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a separate slider movement with maximum being 1000 and minimum being -1000 on a joystick and the thrust of a vehicle. Positive values are positive thrust, negative values are negative thrust.
 175  * @param r R-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a twisting of the joystick, with counter-clockwise being 1000 and clockwise being -1000, and the yaw of a vehicle.
 176  * @param buttons A bitfield corresponding to the joystick buttons' current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 1.
 177  */
 178 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 179
 180 static inline void mavlink_msg_manual_control_send(mavlink_channel_t chan, uint8_t target, int16_t x, int16_t y, int16_t z, int16_t r, uint16_t buttons)
 181 {
 182 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 183     char buf[MAVLINK_MSG_ID_MANUAL_CONTROL_LEN];
 184     _mav_put_int16_t(buf, 0, x);
 185     _mav_put_int16_t(buf, 2, y);
 186     _mav_put_int16_t(buf, 4, z);
 187     _mav_put_int16_t(buf, 6, r);
 188     _mav_put_uint16_t(buf, 8, buttons);
 189     _mav_put_uint8_t(buf, 10, target);
 190
 191     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_CONTROL, buf, MAVLINK_MSG_ID_MANUAL_CONTROL_MIN_LEN, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN, MAVLINK_MSG_ID_MANUAL_CONTROL_CRC);
 192 #else
 193     mavlink_manual_control_t packet;
 194     packet.x = x;
 195     packet.y = y;
 196     packet.z = z;
 197     packet.r = r;
 198     packet.buttons = buttons;
 199     packet.target = target;
 200
 201     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_CONTROL, (const char *)&packet, MAVLINK_MSG_ID_MANUAL_CONTROL_MIN_LEN, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN, MAVLINK_MSG_ID_MANUAL_CONTROL_CRC);
 202 #endif
 203 }
 204
 205 /**
 206  * @brief Send a manual_control message
 207  * @param chan MAVLink channel to send the message
 208  * @param struct The MAVLink struct to serialize
 209  */
 210 static inline void mavlink_msg_manual_control_send_struct(mavlink_channel_t chan, const mavlink_manual_control_t* manual_control)
 211 {
 212 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 213     mavlink_msg_manual_control_send(chan, manual_control->target, manual_control->x, manual_control->y, manual_control->z, manual_control->r, manual_control->buttons);
 214 #else
 215     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_CONTROL, (const char *)manual_control, MAVLINK_MSG_ID_MANUAL_CONTROL_MIN_LEN, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN, MAVLINK_MSG_ID_MANUAL_CONTROL_CRC);
 216 #endif
 217 }
 218
 219 #if MAVLINK_MSG_ID_MANUAL_CONTROL_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 220 /*
 221   This varient of _send() can be used to save stack space by re-using
 222   memory from the receive buffer.  The caller provides a
 223   mavlink_message_t which is the size of a full mavlink message. This
 224   is usually the receive buffer for the channel, and allows a reply to an
 225   incoming message with minimum stack space usage.
 226  */
 227 static inline void mavlink_msg_manual_control_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint8_t target, int16_t x, int16_t y, int16_t z, int16_t r, uint16_t buttons)
 228 {
 229 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 230     char *buf = (char *)msgbuf;
 231     _mav_put_int16_t(buf, 0, x);
 232     _mav_put_int16_t(buf, 2, y);
 233     _mav_put_int16_t(buf, 4, z);
 234     _mav_put_int16_t(buf, 6, r);
 235     _mav_put_uint16_t(buf, 8, buttons);
 236     _mav_put_uint8_t(buf, 10, target);
 237
 238     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_CONTROL, buf, MAVLINK_MSG_ID_MANUAL_CONTROL_MIN_LEN, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN, MAVLINK_MSG_ID_MANUAL_CONTROL_CRC);
 239 #else
 240     mavlink_manual_control_t *packet = (mavlink_manual_control_t *)msgbuf;
 241     packet->x = x;
 242     packet->y = y;
 243     packet->z = z;
 244     packet->r = r;
 245     packet->buttons = buttons;
 246     packet->target = target;
 247
 248     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_CONTROL, (const char *)packet, MAVLINK_MSG_ID_MANUAL_CONTROL_MIN_LEN, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN, MAVLINK_MSG_ID_MANUAL_CONTROL_CRC);
 249 #endif
 250 }
 251 #endif
 252
 253 #endif
 254
 255 // MESSAGE MANUAL_CONTROL UNPACKING
 256
 257
 258 /**
 259  * @brief Get field target from manual_control message
 260  *
 261  * @return The system to be controlled.
 262  */
 263 static inline uint8_t mavlink_msg_manual_control_get_target(const mavlink_message_t* msg)
 264 {
 265     return _MAV_RETURN_uint8_t(msg,  10);
 266 }
 267
 268 /**
 269  * @brief Get field x from manual_control message
 270  *
 271  * @return X-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to forward(1000)-backward(-1000) movement on a joystick and the pitch of a vehicle.
 272  */
 273 static inline int16_t mavlink_msg_manual_control_get_x(const mavlink_message_t* msg)
 274 {
 275     return _MAV_RETURN_int16_t(msg,  0);
 276 }
 277
 278 /**
 279  * @brief Get field y from manual_control message
 280  *
 281  * @return Y-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to left(-1000)-right(1000) movement on a joystick and the roll of a vehicle.
 282  */
 283 static inline int16_t mavlink_msg_manual_control_get_y(const mavlink_message_t* msg)
 284 {
 285     return _MAV_RETURN_int16_t(msg,  2);
 286 }
 287
 288 /**
 289  * @brief Get field z from manual_control message
 290  *
 291  * @return Z-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a separate slider movement with maximum being 1000 and minimum being -1000 on a joystick and the thrust of a vehicle. Positive values are positive thrust, negative values are negative thrust.
 292  */
 293 static inline int16_t mavlink_msg_manual_control_get_z(const mavlink_message_t* msg)
 294 {
 295     return _MAV_RETURN_int16_t(msg,  4);
 296 }
 297
 298 /**
 299  * @brief Get field r from manual_control message
 300  *
 301  * @return R-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a twisting of the joystick, with counter-clockwise being 1000 and clockwise being -1000, and the yaw of a vehicle.
 302  */
 303 static inline int16_t mavlink_msg_manual_control_get_r(const mavlink_message_t* msg)
 304 {
 305     return _MAV_RETURN_int16_t(msg,  6);
 306 }
 307
 308 /**
 309  * @brief Get field buttons from manual_control message
 310  *
 311  * @return A bitfield corresponding to the joystick buttons' current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 1.
 312  */
 313 static inline uint16_t mavlink_msg_manual_control_get_buttons(const mavlink_message_t* msg)
 314 {
 315     return _MAV_RETURN_uint16_t(msg,  8);
 316 }
 317
 318 /**
 319  * @brief Decode a manual_control message into a struct
 320  *
 321  * @param msg The message to decode
 322  * @param manual_control C-struct to decode the message contents into
 323  */
 324 static inline void mavlink_msg_manual_control_decode(const mavlink_message_t* msg, mavlink_manual_control_t* manual_control)
 325 {
 326 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 327     manual_control->x = mavlink_msg_manual_control_get_x(msg);
 328     manual_control->y = mavlink_msg_manual_control_get_y(msg);
 329     manual_control->z = mavlink_msg_manual_control_get_z(msg);
 330     manual_control->r = mavlink_msg_manual_control_get_r(msg);
 331     manual_control->buttons = mavlink_msg_manual_control_get_buttons(msg);
 332     manual_control->target = mavlink_msg_manual_control_get_target(msg);
 333 #else
 334         uint8_t len = msg->len < MAVLINK_MSG_ID_MANUAL_CONTROL_LEN? msg->len : MAVLINK_MSG_ID_MANUAL_CONTROL_LEN;
 335         memset(manual_control, 0, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN);
 336     memcpy(manual_control, _MAV_PAYLOAD(msg), len);
 337 #endif
 338 }