lib/main/MAVLink/common/mavlink_msg_vfr_hud.h

   1 #pragma once
   2 // MESSAGE VFR_HUD PACKING
   3
   4 #define MAVLINK_MSG_ID_VFR_HUD 74
   5
   6
   7 typedef struct __mavlink_vfr_hud_t {
   8  float airspeed; /*< [m/s] Vehicle speed in form appropriate for vehicle type. For standard aircraft this is typically calibrated airspeed (CAS) or indicated airspeed (IAS) - either of which can be used by a pilot to estimate stall speed.*/
   9  float groundspeed; /*< [m/s] Current ground speed.*/
  10  float alt; /*< [m] Current altitude (MSL).*/
  11  float climb; /*< [m/s] Current climb rate.*/
  12  int16_t heading; /*< [deg] Current heading in compass units (0-360, 0=north).*/
  13  uint16_t throttle; /*< [%] Current throttle setting (0 to 100).*/
  14 } mavlink_vfr_hud_t;
  15
  16 #define MAVLINK_MSG_ID_VFR_HUD_LEN 20
  17 #define MAVLINK_MSG_ID_VFR_HUD_MIN_LEN 20
  18 #define MAVLINK_MSG_ID_74_LEN 20
  19 #define MAVLINK_MSG_ID_74_MIN_LEN 20
  20
  21 #define MAVLINK_MSG_ID_VFR_HUD_CRC 20
  22 #define MAVLINK_MSG_ID_74_CRC 20
  23
  24
  25
  26 #if MAVLINK_COMMAND_24BIT
  27 #define MAVLINK_MESSAGE_INFO_VFR_HUD { \
  28     74, \
  29     "VFR_HUD", \
  30     6, \
  31     {  { "airspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_vfr_hud_t, airspeed) }, \
  32          { "groundspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_vfr_hud_t, groundspeed) }, \
  33          { "heading", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_vfr_hud_t, heading) }, \
  34          { "throttle", NULL, MAVLINK_TYPE_UINT16_T, 0, 18, offsetof(mavlink_vfr_hud_t, throttle) }, \
  35          { "alt", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_vfr_hud_t, alt) }, \
  36          { "climb", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_vfr_hud_t, climb) }, \
  37          } \
  38 }
  39 #else
  40 #define MAVLINK_MESSAGE_INFO_VFR_HUD { \
  41     "VFR_HUD", \
  42     6, \
  43     {  { "airspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_vfr_hud_t, airspeed) }, \
  44          { "groundspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_vfr_hud_t, groundspeed) }, \
  45          { "heading", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_vfr_hud_t, heading) }, \
  46          { "throttle", NULL, MAVLINK_TYPE_UINT16_T, 0, 18, offsetof(mavlink_vfr_hud_t, throttle) }, \
  47          { "alt", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_vfr_hud_t, alt) }, \
  48          { "climb", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_vfr_hud_t, climb) }, \
  49          } \
  50 }
  51 #endif
  52
  53 /**
  54  * @brief Pack a vfr_hud 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 airspeed [m/s] Vehicle speed in form appropriate for vehicle type. For standard aircraft this is typically calibrated airspeed (CAS) or indicated airspeed (IAS) - either of which can be used by a pilot to estimate stall speed.
  60  * @param groundspeed [m/s] Current ground speed.
  61  * @param heading [deg] Current heading in compass units (0-360, 0=north).
  62  * @param throttle [%] Current throttle setting (0 to 100).
  63  * @param alt [m] Current altitude (MSL).
  64  * @param climb [m/s] Current climb rate.
  65  * @return length of the message in bytes (excluding serial stream start sign)
  66  */
  67 static inline uint16_t mavlink_msg_vfr_hud_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  68                                float airspeed, float groundspeed, int16_t heading, uint16_t throttle, float alt, float climb)
  69 {
  70 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  71     char buf[MAVLINK_MSG_ID_VFR_HUD_LEN];
  72     _mav_put_float(buf, 0, airspeed);
  73     _mav_put_float(buf, 4, groundspeed);
  74     _mav_put_float(buf, 8, alt);
  75     _mav_put_float(buf, 12, climb);
  76     _mav_put_int16_t(buf, 16, heading);
  77     _mav_put_uint16_t(buf, 18, throttle);
  78
  79         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VFR_HUD_LEN);
  80 #else
  81     mavlink_vfr_hud_t packet;
  82     packet.airspeed = airspeed;
  83     packet.groundspeed = groundspeed;
  84     packet.alt = alt;
  85     packet.climb = climb;
  86     packet.heading = heading;
  87     packet.throttle = throttle;
  88
  89         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_VFR_HUD_LEN);
  90 #endif
  91
  92     msg->msgid = MAVLINK_MSG_ID_VFR_HUD;
  93     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_VFR_HUD_MIN_LEN, MAVLINK_MSG_ID_VFR_HUD_LEN, MAVLINK_MSG_ID_VFR_HUD_CRC);
  94 }
  95
  96 /**
  97  * @brief Pack a vfr_hud 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 airspeed [m/s] Vehicle speed in form appropriate for vehicle type. For standard aircraft this is typically calibrated airspeed (CAS) or indicated airspeed (IAS) - either of which can be used by a pilot to estimate stall speed.
 103  * @param groundspeed [m/s] Current ground speed.
 104  * @param heading [deg] Current heading in compass units (0-360, 0=north).
 105  * @param throttle [%] Current throttle setting (0 to 100).
 106  * @param alt [m] Current altitude (MSL).
 107  * @param climb [m/s] Current climb rate.
 108  * @return length of the message in bytes (excluding serial stream start sign)
 109  */
 110 static inline uint16_t mavlink_msg_vfr_hud_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 111                                mavlink_message_t* msg,
 112                                    float airspeed,float groundspeed,int16_t heading,uint16_t throttle,float alt,float climb)
 113 {
 114 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 115     char buf[MAVLINK_MSG_ID_VFR_HUD_LEN];
 116     _mav_put_float(buf, 0, airspeed);
 117     _mav_put_float(buf, 4, groundspeed);
 118     _mav_put_float(buf, 8, alt);
 119     _mav_put_float(buf, 12, climb);
 120     _mav_put_int16_t(buf, 16, heading);
 121     _mav_put_uint16_t(buf, 18, throttle);
 122
 123         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VFR_HUD_LEN);
 124 #else
 125     mavlink_vfr_hud_t packet;
 126     packet.airspeed = airspeed;
 127     packet.groundspeed = groundspeed;
 128     packet.alt = alt;
 129     packet.climb = climb;
 130     packet.heading = heading;
 131     packet.throttle = throttle;
 132
 133         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_VFR_HUD_LEN);
 134 #endif
 135
 136     msg->msgid = MAVLINK_MSG_ID_VFR_HUD;
 137     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_VFR_HUD_MIN_LEN, MAVLINK_MSG_ID_VFR_HUD_LEN, MAVLINK_MSG_ID_VFR_HUD_CRC);
 138 }
 139
 140 /**
 141  * @brief Encode a vfr_hud 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 vfr_hud C-struct to read the message contents from
 147  */
 148 static inline uint16_t mavlink_msg_vfr_hud_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_vfr_hud_t* vfr_hud)
 149 {
 150     return mavlink_msg_vfr_hud_pack(system_id, component_id, msg, vfr_hud->airspeed, vfr_hud->groundspeed, vfr_hud->heading, vfr_hud->throttle, vfr_hud->alt, vfr_hud->climb);
 151 }
 152
 153 /**
 154  * @brief Encode a vfr_hud 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 vfr_hud C-struct to read the message contents from
 161  */
 162 static inline uint16_t mavlink_msg_vfr_hud_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_vfr_hud_t* vfr_hud)
 163 {
 164     return mavlink_msg_vfr_hud_pack_chan(system_id, component_id, chan, msg, vfr_hud->airspeed, vfr_hud->groundspeed, vfr_hud->heading, vfr_hud->throttle, vfr_hud->alt, vfr_hud->climb);
 165 }
 166
 167 /**
 168  * @brief Send a vfr_hud message
 169  * @param chan MAVLink channel to send the message
 170  *
 171  * @param airspeed [m/s] Vehicle speed in form appropriate for vehicle type. For standard aircraft this is typically calibrated airspeed (CAS) or indicated airspeed (IAS) - either of which can be used by a pilot to estimate stall speed.
 172  * @param groundspeed [m/s] Current ground speed.
 173  * @param heading [deg] Current heading in compass units (0-360, 0=north).
 174  * @param throttle [%] Current throttle setting (0 to 100).
 175  * @param alt [m] Current altitude (MSL).
 176  * @param climb [m/s] Current climb rate.
 177  */
 178 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 179
 180 static inline void mavlink_msg_vfr_hud_send(mavlink_channel_t chan, float airspeed, float groundspeed, int16_t heading, uint16_t throttle, float alt, float climb)
 181 {
 182 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 183     char buf[MAVLINK_MSG_ID_VFR_HUD_LEN];
 184     _mav_put_float(buf, 0, airspeed);
 185     _mav_put_float(buf, 4, groundspeed);
 186     _mav_put_float(buf, 8, alt);
 187     _mav_put_float(buf, 12, climb);
 188     _mav_put_int16_t(buf, 16, heading);
 189     _mav_put_uint16_t(buf, 18, throttle);
 190
 191     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VFR_HUD, buf, MAVLINK_MSG_ID_VFR_HUD_MIN_LEN, MAVLINK_MSG_ID_VFR_HUD_LEN, MAVLINK_MSG_ID_VFR_HUD_CRC);
 192 #else
 193     mavlink_vfr_hud_t packet;
 194     packet.airspeed = airspeed;
 195     packet.groundspeed = groundspeed;
 196     packet.alt = alt;
 197     packet.climb = climb;
 198     packet.heading = heading;
 199     packet.throttle = throttle;
 200
 201     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VFR_HUD, (const char *)&packet, MAVLINK_MSG_ID_VFR_HUD_MIN_LEN, MAVLINK_MSG_ID_VFR_HUD_LEN, MAVLINK_MSG_ID_VFR_HUD_CRC);
 202 #endif
 203 }
 204
 205 /**
 206  * @brief Send a vfr_hud 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_vfr_hud_send_struct(mavlink_channel_t chan, const mavlink_vfr_hud_t* vfr_hud)
 211 {
 212 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 213     mavlink_msg_vfr_hud_send(chan, vfr_hud->airspeed, vfr_hud->groundspeed, vfr_hud->heading, vfr_hud->throttle, vfr_hud->alt, vfr_hud->climb);
 214 #else
 215     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VFR_HUD, (const char *)vfr_hud, MAVLINK_MSG_ID_VFR_HUD_MIN_LEN, MAVLINK_MSG_ID_VFR_HUD_LEN, MAVLINK_MSG_ID_VFR_HUD_CRC);
 216 #endif
 217 }
 218
 219 #if MAVLINK_MSG_ID_VFR_HUD_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_vfr_hud_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  float airspeed, float groundspeed, int16_t heading, uint16_t throttle, float alt, float climb)
 228 {
 229 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 230     char *buf = (char *)msgbuf;
 231     _mav_put_float(buf, 0, airspeed);
 232     _mav_put_float(buf, 4, groundspeed);
 233     _mav_put_float(buf, 8, alt);
 234     _mav_put_float(buf, 12, climb);
 235     _mav_put_int16_t(buf, 16, heading);
 236     _mav_put_uint16_t(buf, 18, throttle);
 237
 238     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VFR_HUD, buf, MAVLINK_MSG_ID_VFR_HUD_MIN_LEN, MAVLINK_MSG_ID_VFR_HUD_LEN, MAVLINK_MSG_ID_VFR_HUD_CRC);
 239 #else
 240     mavlink_vfr_hud_t *packet = (mavlink_vfr_hud_t *)msgbuf;
 241     packet->airspeed = airspeed;
 242     packet->groundspeed = groundspeed;
 243     packet->alt = alt;
 244     packet->climb = climb;
 245     packet->heading = heading;
 246     packet->throttle = throttle;
 247
 248     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VFR_HUD, (const char *)packet, MAVLINK_MSG_ID_VFR_HUD_MIN_LEN, MAVLINK_MSG_ID_VFR_HUD_LEN, MAVLINK_MSG_ID_VFR_HUD_CRC);
 249 #endif
 250 }
 251 #endif
 252
 253 #endif
 254
 255 // MESSAGE VFR_HUD UNPACKING
 256
 257
 258 /**
 259  * @brief Get field airspeed from vfr_hud message
 260  *
 261  * @return [m/s] Vehicle speed in form appropriate for vehicle type. For standard aircraft this is typically calibrated airspeed (CAS) or indicated airspeed (IAS) - either of which can be used by a pilot to estimate stall speed.
 262  */
 263 static inline float mavlink_msg_vfr_hud_get_airspeed(const mavlink_message_t* msg)
 264 {
 265     return _MAV_RETURN_float(msg,  0);
 266 }
 267
 268 /**
 269  * @brief Get field groundspeed from vfr_hud message
 270  *
 271  * @return [m/s] Current ground speed.
 272  */
 273 static inline float mavlink_msg_vfr_hud_get_groundspeed(const mavlink_message_t* msg)
 274 {
 275     return _MAV_RETURN_float(msg,  4);
 276 }
 277
 278 /**
 279  * @brief Get field heading from vfr_hud message
 280  *
 281  * @return [deg] Current heading in compass units (0-360, 0=north).
 282  */
 283 static inline int16_t mavlink_msg_vfr_hud_get_heading(const mavlink_message_t* msg)
 284 {
 285     return _MAV_RETURN_int16_t(msg,  16);
 286 }
 287
 288 /**
 289  * @brief Get field throttle from vfr_hud message
 290  *
 291  * @return [%] Current throttle setting (0 to 100).
 292  */
 293 static inline uint16_t mavlink_msg_vfr_hud_get_throttle(const mavlink_message_t* msg)
 294 {
 295     return _MAV_RETURN_uint16_t(msg,  18);
 296 }
 297
 298 /**
 299  * @brief Get field alt from vfr_hud message
 300  *
 301  * @return [m] Current altitude (MSL).
 302  */
 303 static inline float mavlink_msg_vfr_hud_get_alt(const mavlink_message_t* msg)
 304 {
 305     return _MAV_RETURN_float(msg,  8);
 306 }
 307
 308 /**
 309  * @brief Get field climb from vfr_hud message
 310  *
 311  * @return [m/s] Current climb rate.
 312  */
 313 static inline float mavlink_msg_vfr_hud_get_climb(const mavlink_message_t* msg)
 314 {
 315     return _MAV_RETURN_float(msg,  12);
 316 }
 317
 318 /**
 319  * @brief Decode a vfr_hud message into a struct
 320  *
 321  * @param msg The message to decode
 322  * @param vfr_hud C-struct to decode the message contents into
 323  */
 324 static inline void mavlink_msg_vfr_hud_decode(const mavlink_message_t* msg, mavlink_vfr_hud_t* vfr_hud)
 325 {
 326 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 327     vfr_hud->airspeed = mavlink_msg_vfr_hud_get_airspeed(msg);
 328     vfr_hud->groundspeed = mavlink_msg_vfr_hud_get_groundspeed(msg);
 329     vfr_hud->alt = mavlink_msg_vfr_hud_get_alt(msg);
 330     vfr_hud->climb = mavlink_msg_vfr_hud_get_climb(msg);
 331     vfr_hud->heading = mavlink_msg_vfr_hud_get_heading(msg);
 332     vfr_hud->throttle = mavlink_msg_vfr_hud_get_throttle(msg);
 333 #else
 334         uint8_t len = msg->len < MAVLINK_MSG_ID_VFR_HUD_LEN? msg->len : MAVLINK_MSG_ID_VFR_HUD_LEN;
 335         memset(vfr_hud, 0, MAVLINK_MSG_ID_VFR_HUD_LEN);
 336     memcpy(vfr_hud, _MAV_PAYLOAD(msg), len);
 337 #endif
 338 }