lib/main/MAVLink/common/mavlink_msg_attitude_target.h

   1 #pragma once
   2 // MESSAGE ATTITUDE_TARGET PACKING
   3
   4 #define MAVLINK_MSG_ID_ATTITUDE_TARGET 83
   5
   6
   7 typedef struct __mavlink_attitude_target_t {
   8  uint32_t time_boot_ms; /*< [ms] Timestamp (time since system boot).*/
   9  float q[4]; /*<  Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)*/
  10  float body_roll_rate; /*< [rad/s] Body roll rate*/
  11  float body_pitch_rate; /*< [rad/s] Body pitch rate*/
  12  float body_yaw_rate; /*< [rad/s] Body yaw rate*/
  13  float thrust; /*<  Collective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust)*/
  14  uint8_t type_mask; /*<  Bitmap to indicate which dimensions should be ignored by the vehicle.*/
  15 } mavlink_attitude_target_t;
  16
  17 #define MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN 37
  18 #define MAVLINK_MSG_ID_ATTITUDE_TARGET_MIN_LEN 37
  19 #define MAVLINK_MSG_ID_83_LEN 37
  20 #define MAVLINK_MSG_ID_83_MIN_LEN 37
  21
  22 #define MAVLINK_MSG_ID_ATTITUDE_TARGET_CRC 22
  23 #define MAVLINK_MSG_ID_83_CRC 22
  24
  25 #define MAVLINK_MSG_ATTITUDE_TARGET_FIELD_Q_LEN 4
  26
  27 #if MAVLINK_COMMAND_24BIT
  28 #define MAVLINK_MESSAGE_INFO_ATTITUDE_TARGET { \
  29     83, \
  30     "ATTITUDE_TARGET", \
  31     7, \
  32     {  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_attitude_target_t, time_boot_ms) }, \
  33          { "type_mask", NULL, MAVLINK_TYPE_UINT8_T, 0, 36, offsetof(mavlink_attitude_target_t, type_mask) }, \
  34          { "q", NULL, MAVLINK_TYPE_FLOAT, 4, 4, offsetof(mavlink_attitude_target_t, q) }, \
  35          { "body_roll_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_attitude_target_t, body_roll_rate) }, \
  36          { "body_pitch_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_attitude_target_t, body_pitch_rate) }, \
  37          { "body_yaw_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_attitude_target_t, body_yaw_rate) }, \
  38          { "thrust", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_attitude_target_t, thrust) }, \
  39          } \
  40 }
  41 #else
  42 #define MAVLINK_MESSAGE_INFO_ATTITUDE_TARGET { \
  43     "ATTITUDE_TARGET", \
  44     7, \
  45     {  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_attitude_target_t, time_boot_ms) }, \
  46          { "type_mask", NULL, MAVLINK_TYPE_UINT8_T, 0, 36, offsetof(mavlink_attitude_target_t, type_mask) }, \
  47          { "q", NULL, MAVLINK_TYPE_FLOAT, 4, 4, offsetof(mavlink_attitude_target_t, q) }, \
  48          { "body_roll_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_attitude_target_t, body_roll_rate) }, \
  49          { "body_pitch_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_attitude_target_t, body_pitch_rate) }, \
  50          { "body_yaw_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_attitude_target_t, body_yaw_rate) }, \
  51          { "thrust", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_attitude_target_t, thrust) }, \
  52          } \
  53 }
  54 #endif
  55
  56 /**
  57  * @brief Pack a attitude_target message
  58  * @param system_id ID of this system
  59  * @param component_id ID of this component (e.g. 200 for IMU)
  60  * @param msg The MAVLink message to compress the data into
  61  *
  62  * @param time_boot_ms [ms] Timestamp (time since system boot).
  63  * @param type_mask  Bitmap to indicate which dimensions should be ignored by the vehicle.
  64  * @param q  Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
  65  * @param body_roll_rate [rad/s] Body roll rate
  66  * @param body_pitch_rate [rad/s] Body pitch rate
  67  * @param body_yaw_rate [rad/s] Body yaw rate
  68  * @param thrust  Collective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust)
  69  * @return length of the message in bytes (excluding serial stream start sign)
  70  */
  71 static inline uint16_t mavlink_msg_attitude_target_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  72                                uint32_t time_boot_ms, uint8_t type_mask, const float *q, float body_roll_rate, float body_pitch_rate, float body_yaw_rate, float thrust)
  73 {
  74 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  75     char buf[MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN];
  76     _mav_put_uint32_t(buf, 0, time_boot_ms);
  77     _mav_put_float(buf, 20, body_roll_rate);
  78     _mav_put_float(buf, 24, body_pitch_rate);
  79     _mav_put_float(buf, 28, body_yaw_rate);
  80     _mav_put_float(buf, 32, thrust);
  81     _mav_put_uint8_t(buf, 36, type_mask);
  82     _mav_put_float_array(buf, 4, q, 4);
  83         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN);
  84 #else
  85     mavlink_attitude_target_t packet;
  86     packet.time_boot_ms = time_boot_ms;
  87     packet.body_roll_rate = body_roll_rate;
  88     packet.body_pitch_rate = body_pitch_rate;
  89     packet.body_yaw_rate = body_yaw_rate;
  90     packet.thrust = thrust;
  91     packet.type_mask = type_mask;
  92     mav_array_memcpy(packet.q, q, sizeof(float)*4);
  93         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN);
  94 #endif
  95
  96     msg->msgid = MAVLINK_MSG_ID_ATTITUDE_TARGET;
  97     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ATTITUDE_TARGET_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN, MAVLINK_MSG_ID_ATTITUDE_TARGET_CRC);
  98 }
  99
 100 /**
 101  * @brief Pack a attitude_target message on a channel
 102  * @param system_id ID of this system
 103  * @param component_id ID of this component (e.g. 200 for IMU)
 104  * @param chan The MAVLink channel this message will be sent over
 105  * @param msg The MAVLink message to compress the data into
 106  * @param time_boot_ms [ms] Timestamp (time since system boot).
 107  * @param type_mask  Bitmap to indicate which dimensions should be ignored by the vehicle.
 108  * @param q  Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
 109  * @param body_roll_rate [rad/s] Body roll rate
 110  * @param body_pitch_rate [rad/s] Body pitch rate
 111  * @param body_yaw_rate [rad/s] Body yaw rate
 112  * @param thrust  Collective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust)
 113  * @return length of the message in bytes (excluding serial stream start sign)
 114  */
 115 static inline uint16_t mavlink_msg_attitude_target_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 116                                mavlink_message_t* msg,
 117                                    uint32_t time_boot_ms,uint8_t type_mask,const float *q,float body_roll_rate,float body_pitch_rate,float body_yaw_rate,float thrust)
 118 {
 119 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 120     char buf[MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN];
 121     _mav_put_uint32_t(buf, 0, time_boot_ms);
 122     _mav_put_float(buf, 20, body_roll_rate);
 123     _mav_put_float(buf, 24, body_pitch_rate);
 124     _mav_put_float(buf, 28, body_yaw_rate);
 125     _mav_put_float(buf, 32, thrust);
 126     _mav_put_uint8_t(buf, 36, type_mask);
 127     _mav_put_float_array(buf, 4, q, 4);
 128         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN);
 129 #else
 130     mavlink_attitude_target_t packet;
 131     packet.time_boot_ms = time_boot_ms;
 132     packet.body_roll_rate = body_roll_rate;
 133     packet.body_pitch_rate = body_pitch_rate;
 134     packet.body_yaw_rate = body_yaw_rate;
 135     packet.thrust = thrust;
 136     packet.type_mask = type_mask;
 137     mav_array_memcpy(packet.q, q, sizeof(float)*4);
 138         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN);
 139 #endif
 140
 141     msg->msgid = MAVLINK_MSG_ID_ATTITUDE_TARGET;
 142     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ATTITUDE_TARGET_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN, MAVLINK_MSG_ID_ATTITUDE_TARGET_CRC);
 143 }
 144
 145 /**
 146  * @brief Encode a attitude_target struct
 147  *
 148  * @param system_id ID of this system
 149  * @param component_id ID of this component (e.g. 200 for IMU)
 150  * @param msg The MAVLink message to compress the data into
 151  * @param attitude_target C-struct to read the message contents from
 152  */
 153 static inline uint16_t mavlink_msg_attitude_target_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_attitude_target_t* attitude_target)
 154 {
 155     return mavlink_msg_attitude_target_pack(system_id, component_id, msg, attitude_target->time_boot_ms, attitude_target->type_mask, attitude_target->q, attitude_target->body_roll_rate, attitude_target->body_pitch_rate, attitude_target->body_yaw_rate, attitude_target->thrust);
 156 }
 157
 158 /**
 159  * @brief Encode a attitude_target struct on a channel
 160  *
 161  * @param system_id ID of this system
 162  * @param component_id ID of this component (e.g. 200 for IMU)
 163  * @param chan The MAVLink channel this message will be sent over
 164  * @param msg The MAVLink message to compress the data into
 165  * @param attitude_target C-struct to read the message contents from
 166  */
 167 static inline uint16_t mavlink_msg_attitude_target_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_attitude_target_t* attitude_target)
 168 {
 169     return mavlink_msg_attitude_target_pack_chan(system_id, component_id, chan, msg, attitude_target->time_boot_ms, attitude_target->type_mask, attitude_target->q, attitude_target->body_roll_rate, attitude_target->body_pitch_rate, attitude_target->body_yaw_rate, attitude_target->thrust);
 170 }
 171
 172 /**
 173  * @brief Send a attitude_target message
 174  * @param chan MAVLink channel to send the message
 175  *
 176  * @param time_boot_ms [ms] Timestamp (time since system boot).
 177  * @param type_mask  Bitmap to indicate which dimensions should be ignored by the vehicle.
 178  * @param q  Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
 179  * @param body_roll_rate [rad/s] Body roll rate
 180  * @param body_pitch_rate [rad/s] Body pitch rate
 181  * @param body_yaw_rate [rad/s] Body yaw rate
 182  * @param thrust  Collective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust)
 183  */
 184 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 185
 186 static inline void mavlink_msg_attitude_target_send(mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t type_mask, const float *q, float body_roll_rate, float body_pitch_rate, float body_yaw_rate, float thrust)
 187 {
 188 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 189     char buf[MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN];
 190     _mav_put_uint32_t(buf, 0, time_boot_ms);
 191     _mav_put_float(buf, 20, body_roll_rate);
 192     _mav_put_float(buf, 24, body_pitch_rate);
 193     _mav_put_float(buf, 28, body_yaw_rate);
 194     _mav_put_float(buf, 32, thrust);
 195     _mav_put_uint8_t(buf, 36, type_mask);
 196     _mav_put_float_array(buf, 4, q, 4);
 197     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_TARGET, buf, MAVLINK_MSG_ID_ATTITUDE_TARGET_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN, MAVLINK_MSG_ID_ATTITUDE_TARGET_CRC);
 198 #else
 199     mavlink_attitude_target_t packet;
 200     packet.time_boot_ms = time_boot_ms;
 201     packet.body_roll_rate = body_roll_rate;
 202     packet.body_pitch_rate = body_pitch_rate;
 203     packet.body_yaw_rate = body_yaw_rate;
 204     packet.thrust = thrust;
 205     packet.type_mask = type_mask;
 206     mav_array_memcpy(packet.q, q, sizeof(float)*4);
 207     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_TARGET, (const char *)&packet, MAVLINK_MSG_ID_ATTITUDE_TARGET_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN, MAVLINK_MSG_ID_ATTITUDE_TARGET_CRC);
 208 #endif
 209 }
 210
 211 /**
 212  * @brief Send a attitude_target message
 213  * @param chan MAVLink channel to send the message
 214  * @param struct The MAVLink struct to serialize
 215  */
 216 static inline void mavlink_msg_attitude_target_send_struct(mavlink_channel_t chan, const mavlink_attitude_target_t* attitude_target)
 217 {
 218 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 219     mavlink_msg_attitude_target_send(chan, attitude_target->time_boot_ms, attitude_target->type_mask, attitude_target->q, attitude_target->body_roll_rate, attitude_target->body_pitch_rate, attitude_target->body_yaw_rate, attitude_target->thrust);
 220 #else
 221     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_TARGET, (const char *)attitude_target, MAVLINK_MSG_ID_ATTITUDE_TARGET_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN, MAVLINK_MSG_ID_ATTITUDE_TARGET_CRC);
 222 #endif
 223 }
 224
 225 #if MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 226 /*
 227   This varient of _send() can be used to save stack space by re-using
 228   memory from the receive buffer.  The caller provides a
 229   mavlink_message_t which is the size of a full mavlink message. This
 230   is usually the receive buffer for the channel, and allows a reply to an
 231   incoming message with minimum stack space usage.
 232  */
 233 static inline void mavlink_msg_attitude_target_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint32_t time_boot_ms, uint8_t type_mask, const float *q, float body_roll_rate, float body_pitch_rate, float body_yaw_rate, float thrust)
 234 {
 235 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 236     char *buf = (char *)msgbuf;
 237     _mav_put_uint32_t(buf, 0, time_boot_ms);
 238     _mav_put_float(buf, 20, body_roll_rate);
 239     _mav_put_float(buf, 24, body_pitch_rate);
 240     _mav_put_float(buf, 28, body_yaw_rate);
 241     _mav_put_float(buf, 32, thrust);
 242     _mav_put_uint8_t(buf, 36, type_mask);
 243     _mav_put_float_array(buf, 4, q, 4);
 244     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_TARGET, buf, MAVLINK_MSG_ID_ATTITUDE_TARGET_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN, MAVLINK_MSG_ID_ATTITUDE_TARGET_CRC);
 245 #else
 246     mavlink_attitude_target_t *packet = (mavlink_attitude_target_t *)msgbuf;
 247     packet->time_boot_ms = time_boot_ms;
 248     packet->body_roll_rate = body_roll_rate;
 249     packet->body_pitch_rate = body_pitch_rate;
 250     packet->body_yaw_rate = body_yaw_rate;
 251     packet->thrust = thrust;
 252     packet->type_mask = type_mask;
 253     mav_array_memcpy(packet->q, q, sizeof(float)*4);
 254     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_TARGET, (const char *)packet, MAVLINK_MSG_ID_ATTITUDE_TARGET_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN, MAVLINK_MSG_ID_ATTITUDE_TARGET_CRC);
 255 #endif
 256 }
 257 #endif
 258
 259 #endif
 260
 261 // MESSAGE ATTITUDE_TARGET UNPACKING
 262
 263
 264 /**
 265  * @brief Get field time_boot_ms from attitude_target message
 266  *
 267  * @return [ms] Timestamp (time since system boot).
 268  */
 269 static inline uint32_t mavlink_msg_attitude_target_get_time_boot_ms(const mavlink_message_t* msg)
 270 {
 271     return _MAV_RETURN_uint32_t(msg,  0);
 272 }
 273
 274 /**
 275  * @brief Get field type_mask from attitude_target message
 276  *
 277  * @return  Bitmap to indicate which dimensions should be ignored by the vehicle.
 278  */
 279 static inline uint8_t mavlink_msg_attitude_target_get_type_mask(const mavlink_message_t* msg)
 280 {
 281     return _MAV_RETURN_uint8_t(msg,  36);
 282 }
 283
 284 /**
 285  * @brief Get field q from attitude_target message
 286  *
 287  * @return  Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
 288  */
 289 static inline uint16_t mavlink_msg_attitude_target_get_q(const mavlink_message_t* msg, float *q)
 290 {
 291     return _MAV_RETURN_float_array(msg, q, 4,  4);
 292 }
 293
 294 /**
 295  * @brief Get field body_roll_rate from attitude_target message
 296  *
 297  * @return [rad/s] Body roll rate
 298  */
 299 static inline float mavlink_msg_attitude_target_get_body_roll_rate(const mavlink_message_t* msg)
 300 {
 301     return _MAV_RETURN_float(msg,  20);
 302 }
 303
 304 /**
 305  * @brief Get field body_pitch_rate from attitude_target message
 306  *
 307  * @return [rad/s] Body pitch rate
 308  */
 309 static inline float mavlink_msg_attitude_target_get_body_pitch_rate(const mavlink_message_t* msg)
 310 {
 311     return _MAV_RETURN_float(msg,  24);
 312 }
 313
 314 /**
 315  * @brief Get field body_yaw_rate from attitude_target message
 316  *
 317  * @return [rad/s] Body yaw rate
 318  */
 319 static inline float mavlink_msg_attitude_target_get_body_yaw_rate(const mavlink_message_t* msg)
 320 {
 321     return _MAV_RETURN_float(msg,  28);
 322 }
 323
 324 /**
 325  * @brief Get field thrust from attitude_target message
 326  *
 327  * @return  Collective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust)
 328  */
 329 static inline float mavlink_msg_attitude_target_get_thrust(const mavlink_message_t* msg)
 330 {
 331     return _MAV_RETURN_float(msg,  32);
 332 }
 333
 334 /**
 335  * @brief Decode a attitude_target message into a struct
 336  *
 337  * @param msg The message to decode
 338  * @param attitude_target C-struct to decode the message contents into
 339  */
 340 static inline void mavlink_msg_attitude_target_decode(const mavlink_message_t* msg, mavlink_attitude_target_t* attitude_target)
 341 {
 342 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 343     attitude_target->time_boot_ms = mavlink_msg_attitude_target_get_time_boot_ms(msg);
 344     mavlink_msg_attitude_target_get_q(msg, attitude_target->q);
 345     attitude_target->body_roll_rate = mavlink_msg_attitude_target_get_body_roll_rate(msg);
 346     attitude_target->body_pitch_rate = mavlink_msg_attitude_target_get_body_pitch_rate(msg);
 347     attitude_target->body_yaw_rate = mavlink_msg_attitude_target_get_body_yaw_rate(msg);
 348     attitude_target->thrust = mavlink_msg_attitude_target_get_thrust(msg);
 349     attitude_target->type_mask = mavlink_msg_attitude_target_get_type_mask(msg);
 350 #else
 351         uint8_t len = msg->len < MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN? msg->len : MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN;
 352         memset(attitude_target, 0, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN);
 353     memcpy(attitude_target, _MAV_PAYLOAD(msg), len);
 354 #endif
 355 }